A tutorial about octomap. Please check my blog for detail: cnblogs.com/gaoxiang12
解决PCD转octomap时未更新free node，导致后面使用octomap_server得到的2D occupancy地图没有可用区域的问题
Installation: Dependency: opencv - sudo apt-get install libopencv-dev boost - sudo apt-get install libboost-all-dev pcl - follow instructions on http://pointclouds.org/ octomap - https://github.com/OctoMap/octomap
Build: change the octomap path in cmake_modules/octomap-config.cmake ./build.sh
Usage: bin/pcd2octomap bin/pcd2colorOctomap bin/joinmap
Example: bin/pcd2octomap data/sample.pcd data/sample.bt -convert the sample pcd file to octomap file bin/pcd2colorOctomap data/sample.pcd data/sample.bt -convert the sample pcd file to color octomap file bin/joinmap - join the maps defined in data/keyframe.txt