ROS Index
|
octomap package from octomap repodynamic_edt_3d octomap octovis |
Package Summary
| Tags | No category tags. |
| Version | 1.10.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/octomap/octomap.git |
| VCS Type | git |
| VCS Version | devel |
| Last Updated | 2025-04-20 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
http://octomap.github.io for details.
Additional Links
Maintainers
- Armin Hornung
- Wolfgang Merkt
Authors
- Kai M. Wurm
- Armin Hornung
Octomap - A probabilistic, flexible, and compact 3D mapping library for robotic systems
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. https://octomap.github.io
See the list of contributors for further authors.
License for octomap: New BSD License
REQUIREMENTS
- For only the octomap library: cmake and a regular build environment (gcc)
- For HTML documentation: doxygen (optional)
- For the viewer octovis: Qt4, OpenGL, QGLViewer (optional)
Skip to WINDOWS for tips on compilation under Windows. You can install all dependencies on Ubuntu by running:
sudo apt-get install cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
(Note: for older releases of Ubuntu you need to exchange the last package name with libqglviewer-qt4-dev)
INSTALLATION
See http://www.ros.org/wiki/octomap if you want to use OctoMap in ROS! There are pre-compiled packages for octomap, octovis, and ROS integration available.
Build the complete project by changing into the “build” directory and running cmake:
mkdir build && cd build
cmake ..
Type make to compile afterwards. This will create all CMake
files cleanly in the build folder (Out-of-source build).
Executables will end up in bin, libraries in lib.
A debug configuration can be created by running:
cmake -DCMAKE_BUILD_TYPE=Debug ..
in build or a different directory (e.g. build-debug).
You can install the library by running make install, though it
is usually not necessary. Be sure to adjust CMAKE_INSTALL_PREFIX before.
The target make test executes the unit tests for the octomap library,
if you are interested in verifying the functionality on your machine.
DOCUMENTATION
The documentation for the latest stable release is available online: https://octomap.github.io/octomap/doc/index.html
You can build the most current HTML-Documentation for your current
source with Doxygen by running make docs
in the build directory. The documentation will end up in
doc/html/index.html in the main directory.
GETTING STARTED
Jump right in and have a look at the example src/octomap/simple_example.cpp
Or start the 3D viewer with bin/octovis
You will find an example scan and binary tree to load in the directory share.
Further examples can be downloaded from the project website.
USE IN OTHER PROJECTS
A CMake-project config is generated for OctoMap which allows OctoMap to be used from other CMake-Projects easily.
Point CMake to your octomap installation so that it finds the file
octomap/lib/cmake/octomap/octomap-config.cmake, e.g. by setting the environment
variable octomap_DIRto the directory containing it.
Then add the following to your CMakeLists.txt:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
In addition to this cmake-module we also provide a pkgconfig-file.
For convenience, there is a minimal example project included in the file share/example-project.tgz
ECLIPSE PROJECT FILES
Eclipse project files can be generated (with some limitations, see: https://gitlab.kitware.com/cmake/community/-/wikis/doc/editors/Eclipse-CDT4-Generator) by running:
cmake -G"Eclipse CDT4 - Unix Makefiles" ..
Import the project (existing project, root is the build folder, do not copy contents) into Eclipse afterwards. For full Eclipse compatibility, it might be necessary to build in the main source directory.
WINDOWS
The octomap library and tools can be compiled and used under Windows although this has not been tested in-depth. Feedback is welcome.
To compile the library you need cmake (https://www.cmake.org) and either MinGW or Visual Studio.
MinGW
- Download the MinGW distribution (http://www.mingw.org)
- Install C++ compiler and add MingGW/bin to your system PATH
- Start the cmake-gui and set the code directory to the
library root (e.g.
/octomap) - Create and set the build directory to, e.g.,
/octomap/build. - Press “Configure” then “Generate”, select the appropriate generator, “MinGW Makefiles”.
-
Start a command shell and “make” the project:
octomap> cd build octomap/build> mingw32-make.exe
As verification, you can run the unit tests using ctest on the command prompt:
octomap/build> ctest.exe
Microsoft Visual Studio (2013 or later recommended)
Last tested with MSVC 2013 and 2015 (Community Edition).
- Start the cmake-gui and set the source code directory to the
library root (e.g.
\octomap) - Create a build directory and set it in CMake (“Where to build the
binaries”), e.g.
\octomap\build. - Press “Configure” then “Generate”, select the appropriate generator, e.g. “Visual Studio 2015”.
This generates a solution file
octomap.slnin the build directory. - Load this file and build the project
ALL_BUILDin Visual Studio.
Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
you can only build octomap by proceeding as described above but in the octomap
subdirectory. This can help you getting started when there are problems with
octovis and Qt4.
As verification, you can run the unit tests in Visual Studio by building the
RUN_TESTS project or by using ctest on the command prompt:
octomap/build> ctest.exe -C Release
CHANGELOG
v1.10.0: 2024-03-19
===================
- CMake: Fix duplicate uninstall target (#406)
- Fix errors with recent compilers and C++17/20 standard (#394)
- Fix ScanGraph.h c++20 compilation error (#398)
- Add smaller than operator for vectors (#330)
- Add vcpkg installation instructions to Readme (#382)
- Fix test dependencies in CMakeLists (#374)
- replace deprecated std::iterator by defining required types (#373)
- octovis: fix issue with saving not showing any dialog (#414)
- octovis: Fix deprecated QString and glext redefinition warning (#375)
- octovis: Declare missing dependency on opengl (#408)
- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
- ROS: Remove ccache for ROS-Industrial CI yml (#413)
- ROS: Remove EOL ROS distros from CI actions
v1.9.8: 2022-05-12
==================
- Also set lowercase octomap_* variables in CMake config (#369)
- Fix float tests and overflow problem in binvox2bt
- Fix to freespace update when bbx is set. (#360)
- Update Doxygen & URLs (#354,#352)
- make setBBXMin/Max parameters const (#348)
- ROS: Remove unused ament_cmake dependency.
- octovis: Implement volume selection features (#339)
- octovis: Link dependencies in octovis-static library (#340)
v1.9.7: 2021-05-03
==================
- Use explicit casting to prevent implicit sign conversion
- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
v1.9.6: 2021-01-23
==================
- Fixed ifstream >> byte with c++17
- strict warnings_as_errors compiler options and corresponding fixes
- octovis: Fixed qmake command to build libQGLViewer with Qt5.
- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
- octovis: use -fPIC with all compilers
v1.9.5: 2020-03-25
==================
- octovis: Update ROS dependencies to Qt5
v1.9.4: 2020-03-15
==================
- octovis: Enable Qt5 by default
- Support added for configurable libdir for packaging
- Increased minimum CMake version to 3.0.2
v1.9.3: 2019-12-26
==================
- Fixed Wpedantic warnings
- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
v1.9.2: 2019-11-28
==================
- Fixed ROS buildfarm failures for octovis
v1.9.1: 2019-11-23
==================
- Improved compatibility with modern compilers and ROS2
v1.9.0: 2017-04-28
==================
- Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)
- dynamicEDT3D templated over OctoMap type (thx to J.V. Gomez)
- Added optimized rendering option and command line option for tree cutoff
in octovis (thx to F. Endres)
- Added optional Qt5 support in octovis (thx to K. Stepanas)
- Improved the generation of config.cmake and version.cmake files, make them
relocatable via CONFIGURE_PACKAGE_CONFIG_FILE (thx to J.V. Gomez)
- Enable rpath on OS X when the CMake version supports it (thx to J. Snape)
- Added version information to *-config.cmake files and exported targets to
CMakeLists.txt (thx to J. Snape)
- Improved CMake build by specifically targeting local includes (thx to
C.-E. Hrabia)
v1.8.1: 2017-01-13
==================
- Disambiguated isnan (C++11)
- Fixed #123: Set root=NULL in clear()
- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
v1.8.0: 2016-04-20
==================
- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
enable safely deriving custom node classes. The following functions were
moved from OcTreeDataNode into OcTreeBaseImpl:
createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
expandNode() -> OcTreeBaseImpl::expandNode(...)
pruneNode() -> OcTreeBaseImpl::pruneNode(...)
hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)
If you use custom derived node classes, you need to adjust your code to the
new API (have a look at ColorOcTree.h as an example). In particular, you
should no longer use the above node member functions in your nodes.
- Extended unit tests for the new memory management
- Added valgrind memcheck suppression file with known ("wanted") leaks due to
StaticMemberInitializer.
- Replaced `unsigned short int` for key values with octomap::key_type
(=uint16_t) and unsigned char with uint8_t in API.
- Cleaned up OcTreeKey and KeyRay API (used internally)
- Reduced unneeded memory for StaticMemberInitializer
- Cleaned up const refs to primitive types in ColorOcTree interface
- Removed deprecated insertScan functions (replaced by insertPointCloud)
- Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
OcTreeBaseSE classes
- octovis: Internal version of libQGLViewer updated to 2.6.3
v1.7.2: 2016-03-26
==================
- BBX iterators fixed for empty trees (point3d version)
- Removed qglviewer.h from some public octovis headers
- Fixed QGLViewer library names for Ubuntu wily and xenial
- Fixed install path in CMakeConfigs
v1.7.1: 2016-01-31
==================
- Fixed #82: Enable uninstall target for complete project
- Fixed #47: Exported CMake library paths for Windows no longer
have the Release/Debug prefix and correctly contain the .lib file
- Fixed #51: IO factory class registry with MSVC. Calling a dummy
function from an OcTree class c'tor enables reading general .ot files
when compiling with MSVC
- Fixed #100: Explicit casts to avoid warnings with MSVC
v1.7.0: 2015-11-27
==================
- BBX iterators fixed for empty trees (thx to F. Boniardi)
- graph2tree tool option for nodes in global frame
- New octree2pointcloud PCL conversion tool (thx to F. Ferri)
- Improved change detection / diff calculation (thx to C. Brew)
- getUnknownLeafCenters now allows queries at a specified depth (thx to
A. Ecins)
- Fixed hashing overflow with clang (thx to L. Riano)
v1.6.9: 2016-01-13
==================
- Maintenance release for ROS:
Added function to determine state of change detection
v1.6.7: 2014-08-31
==================
- FSF address in octovis license header for OctoMap package in Fedora
- Separate build options for octovis and dynamicEDT3D. Thanks to C. Reist!
v1.6.6: 2014-05-26
==================
- Support for SOVERSION in the libraries for better packaging
- Warning for unknown space in castRay() removed (needs to be inferred by
calling code depending on return value and endpoint voxel)
- Marching cubes for ray surface intersection extended
- Fixed QGLViewer include paths
- ScanGraph read error no longer exits the process
v1.6.5: 2014-03-14
==================
- Fix octovis includes for QGLViewer > 2.5
v1.6.4: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.6.3: 2014-01-13
==================
- New function setNodeValue(...) to directly set a node's value (#31)
- New approximate point cloud insertion as fast variant (#39, see flag for
insertPointCloud(...) / new function computeDiscreteUpdate(...)
v1.6.2: 2013-11-26
==================
- Improved OSX 10.9 compatibility (thx to B. Jensen)
- Improved VC++ compatibility (thx to tmdiv)
- New fct. getRayIntersection to get real intersection of raycasting on
voxel (thanks to F-M. de Rainville)
- Fix #54: Quote paths in CMake configs to avoid problems with spaces
- Fix #53: Auto-pruning after updateNode
- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
- octovis now includes QGLViewer 2.4 (Qt5 support)
- octovis now looks for the octomap version of the same number
v1.6.1: 2013-06-19
==================
- New function swapContent to exchange the contents of two octrees (issue #32)
- New normal estimation based on marching cubes (thanks to F-M. de Rainville)
- Fixed octovis edit box affecting small selection ranges
- Fixed compilation with gcc 4.8 and OSX (issues #23 #28)
v1.6.0: 2013-04-05
==================
- Speedup: Pruning is now done only on affected nodes on each call to
updateNode(). You no longer have to call prune(), except when you manually
change nodes or use lazy_update.
- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
- Empty octrees no longer contain a root node (#11)
- Library names in CMake configs are now absolute paths, you should no longer
use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
- graph2tree: pointcloud is transformed in batch before insertion, small changes
in command line options
- octovis: more map editing options, fixed setting nodes to free/occupied (thx
to C. Dornhege)
- Sample data is now in octomap/share
v1.5.7: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.5.6: 2013-06-10
==================
- Fixed compilation with OSX 10.8 (issue #23)
v1.5.5: 2013-05-05
==================
- Fixed compilation of external code against OctoMap with gcc4.8 (issue #28)
v1.5.4: 2013-02-27
==================
- Removed binvox binaries from sources for improved packaging compatibility
(ticket #18). Download from www.cs.princeton.edu/~min/binvox/ instead.
v1.5.3: 2012-12-18
==================
- CMakeConfig now installs into share/octomap instead of lib/cmake/octomap for
better compatibility with ROS
- ROS package.xml removed, will be added in the release process
- added sensor model parameters to graph2tree
- new octree evaluation tool: eval_octree_accuracy and compare_octrees
v1.5.2: 2012-11-02
==================
- Fixed compilation with gcc 4.7 (Ubuntu Quantal)
v1.5.1: 2012-10-16
===================
- Fixed raycasting corner cases, expanded unit tests
- added double precision 3D coordinate conversions (ticket #13)
- Fixed compatibility with MSVC
v1.5.0: 2012-08-28
===================
- dynamicEDT3D, a library for dynamically updatable distance maps by C. Sprunk,
B. Lau, and W. Burgard is now available as part of the OctoMap distribution
- added AbstractOccupancyOcTree interface class, moved binary file IO
- delete functionality added to octrees and nodes
- octovis can now delete nodes inside or outside of a selection box
- operator== and copy constructor for octree nodes and octrees
- key / coordinate conversion functions are now clearly named and documented.
genPos/genKey deprecated in favor of coordToKey, keyToCoord
- added limited-depth search
- deep-copy constructor for octrees and nodes, assignment op. is private
- improved compatibility with MSVC (thx to J. Aguado)
- internal QGLViewer version increased to 2.3.17
- cleanup: functions removed /deprecated in favor or iterator-base node traversal
- cleanup: private members renamed (tree root / node children)
v1.4.3: 2012-10-07
==================
- Fixed raycasting corner cases, expanded unit tests
- iterator_base derives public for boost::filter
v1.4.2: 2012-04-24
===================
- extended graph2tree with more verbose logging / statistics
- fixed conversion from color .ot to .bt in convert_octree
- minor fixes in octovis with color rendering
- fixed octovis compilation with Qt 4.8 (Ubuntu 12.04)
- experimental editing functionality in octovis to clear and fill volumes
v1.4.1: 2012-03-12
===================
- added stack.yaml for release in ROS with catkin
v1.4: 2012-02-22
===================
- New generalized file IO for all kinds of OcTrees to .ot files. The updated
file format requires a conversion of your old bt and ot files with the
"convert_octree" tool. bt files are read and written as before.
To write the general .ot file format use tree.write(...) and read it with
AbstractOcTree::read(...) as factory (dynamic_cast to the correct class
afterwards).
- New ColorOcTree class to store color in addition to occupancy
(e.g. from Kinect), with visualization in octovis
- New map collections of octrees (hierarchical octree maps, experimental)
- Support for Linux, Mac OSX, and Windows
- enhancements and fixes in changeDetection
- minor fixes and unit tests added
v1.2: 2011-08-17
===================
- divided code into a library (octomap) and visualization part (octvis) to
remove dependencies on Qt / OpenGL from library. Both can be built
independently or as a complete package.
- iterators for fast and flexible tree access (check doxygen of OcTreeBase::
iterator) are the preferred way to traverse tree nodes now
- improved speed of map update / scan insertion. A further speedup is possible
when using the "lazy evaluation" flag for batch insertion
- unit tests based on CTest ("make test")
- CMake improvements: new targets "dist" (build package) and "uninstall",
dynamic and static libs are built. CMake package config to ease integration
into other CMake-based systems (install octomap globally, or set the
environment variable octomap_DIR to your OctoMap location
- occupancy and sensor parameters are now a property of the tree and not the
nodes. Use e.g. tree->isNodeOccupied(node) instead of node->isOccupied()
- cleanup of OcTree and OccupancyOcTree: the latter now holds most of the
implementation to ease deriving own tree and node types.
See OcTreeStamped for an example.
- debug output is now muted when not compiling as "Debug", ROS logging levels
are used when compiled in ROS
- experimental change detection in occupancy octrees
- bugfixes and general compatibility improvements
v1.0: 2011-03-15
===================
- cleanup of insertScan methods
- key-based raycasting with pre-allocated KeyRay
- speedup and cleanup of math, inlining
v0.8: 2010-11-16
===================
- improved speed of map update / scan insertion
- improved speed of map queries (isOccupied / castRay)
- key-based computations to improve numerical stability and efficiency
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| grid_map_octomap | |
| dynamic_edt_3d | |
| octovis |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged octomap at Robotics Stack Exchange
|
|
octomap package from octomap repodynamic_edt_3d octomap octovis |
Package Summary
| Tags | No category tags. |
| Version | 1.10.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/octomap/octomap.git |
| VCS Type | git |
| VCS Version | devel |
| Last Updated | 2025-04-20 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
http://octomap.github.io for details.
Additional Links
Maintainers
- Armin Hornung
- Wolfgang Merkt
Authors
- Kai M. Wurm
- Armin Hornung
Octomap - A probabilistic, flexible, and compact 3D mapping library for robotic systems
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. https://octomap.github.io
See the list of contributors for further authors.
License for octomap: New BSD License
REQUIREMENTS
- For only the octomap library: cmake and a regular build environment (gcc)
- For HTML documentation: doxygen (optional)
- For the viewer octovis: Qt4, OpenGL, QGLViewer (optional)
Skip to WINDOWS for tips on compilation under Windows. You can install all dependencies on Ubuntu by running:
sudo apt-get install cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
(Note: for older releases of Ubuntu you need to exchange the last package name with libqglviewer-qt4-dev)
INSTALLATION
See http://www.ros.org/wiki/octomap if you want to use OctoMap in ROS! There are pre-compiled packages for octomap, octovis, and ROS integration available.
Build the complete project by changing into the “build” directory and running cmake:
mkdir build && cd build
cmake ..
Type make to compile afterwards. This will create all CMake
files cleanly in the build folder (Out-of-source build).
Executables will end up in bin, libraries in lib.
A debug configuration can be created by running:
cmake -DCMAKE_BUILD_TYPE=Debug ..
in build or a different directory (e.g. build-debug).
You can install the library by running make install, though it
is usually not necessary. Be sure to adjust CMAKE_INSTALL_PREFIX before.
The target make test executes the unit tests for the octomap library,
if you are interested in verifying the functionality on your machine.
DOCUMENTATION
The documentation for the latest stable release is available online: https://octomap.github.io/octomap/doc/index.html
You can build the most current HTML-Documentation for your current
source with Doxygen by running make docs
in the build directory. The documentation will end up in
doc/html/index.html in the main directory.
GETTING STARTED
Jump right in and have a look at the example src/octomap/simple_example.cpp
Or start the 3D viewer with bin/octovis
You will find an example scan and binary tree to load in the directory share.
Further examples can be downloaded from the project website.
USE IN OTHER PROJECTS
A CMake-project config is generated for OctoMap which allows OctoMap to be used from other CMake-Projects easily.
Point CMake to your octomap installation so that it finds the file
octomap/lib/cmake/octomap/octomap-config.cmake, e.g. by setting the environment
variable octomap_DIRto the directory containing it.
Then add the following to your CMakeLists.txt:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
In addition to this cmake-module we also provide a pkgconfig-file.
For convenience, there is a minimal example project included in the file share/example-project.tgz
ECLIPSE PROJECT FILES
Eclipse project files can be generated (with some limitations, see: https://gitlab.kitware.com/cmake/community/-/wikis/doc/editors/Eclipse-CDT4-Generator) by running:
cmake -G"Eclipse CDT4 - Unix Makefiles" ..
Import the project (existing project, root is the build folder, do not copy contents) into Eclipse afterwards. For full Eclipse compatibility, it might be necessary to build in the main source directory.
WINDOWS
The octomap library and tools can be compiled and used under Windows although this has not been tested in-depth. Feedback is welcome.
To compile the library you need cmake (https://www.cmake.org) and either MinGW or Visual Studio.
MinGW
- Download the MinGW distribution (http://www.mingw.org)
- Install C++ compiler and add MingGW/bin to your system PATH
- Start the cmake-gui and set the code directory to the
library root (e.g.
/octomap) - Create and set the build directory to, e.g.,
/octomap/build. - Press “Configure” then “Generate”, select the appropriate generator, “MinGW Makefiles”.
-
Start a command shell and “make” the project:
octomap> cd build octomap/build> mingw32-make.exe
As verification, you can run the unit tests using ctest on the command prompt:
octomap/build> ctest.exe
Microsoft Visual Studio (2013 or later recommended)
Last tested with MSVC 2013 and 2015 (Community Edition).
- Start the cmake-gui and set the source code directory to the
library root (e.g.
\octomap) - Create a build directory and set it in CMake (“Where to build the
binaries”), e.g.
\octomap\build. - Press “Configure” then “Generate”, select the appropriate generator, e.g. “Visual Studio 2015”.
This generates a solution file
octomap.slnin the build directory. - Load this file and build the project
ALL_BUILDin Visual Studio.
Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
you can only build octomap by proceeding as described above but in the octomap
subdirectory. This can help you getting started when there are problems with
octovis and Qt4.
As verification, you can run the unit tests in Visual Studio by building the
RUN_TESTS project or by using ctest on the command prompt:
octomap/build> ctest.exe -C Release
CHANGELOG
v1.10.0: 2024-03-19
===================
- CMake: Fix duplicate uninstall target (#406)
- Fix errors with recent compilers and C++17/20 standard (#394)
- Fix ScanGraph.h c++20 compilation error (#398)
- Add smaller than operator for vectors (#330)
- Add vcpkg installation instructions to Readme (#382)
- Fix test dependencies in CMakeLists (#374)
- replace deprecated std::iterator by defining required types (#373)
- octovis: fix issue with saving not showing any dialog (#414)
- octovis: Fix deprecated QString and glext redefinition warning (#375)
- octovis: Declare missing dependency on opengl (#408)
- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
- ROS: Remove ccache for ROS-Industrial CI yml (#413)
- ROS: Remove EOL ROS distros from CI actions
v1.9.8: 2022-05-12
==================
- Also set lowercase octomap_* variables in CMake config (#369)
- Fix float tests and overflow problem in binvox2bt
- Fix to freespace update when bbx is set. (#360)
- Update Doxygen & URLs (#354,#352)
- make setBBXMin/Max parameters const (#348)
- ROS: Remove unused ament_cmake dependency.
- octovis: Implement volume selection features (#339)
- octovis: Link dependencies in octovis-static library (#340)
v1.9.7: 2021-05-03
==================
- Use explicit casting to prevent implicit sign conversion
- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
v1.9.6: 2021-01-23
==================
- Fixed ifstream >> byte with c++17
- strict warnings_as_errors compiler options and corresponding fixes
- octovis: Fixed qmake command to build libQGLViewer with Qt5.
- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
- octovis: use -fPIC with all compilers
v1.9.5: 2020-03-25
==================
- octovis: Update ROS dependencies to Qt5
v1.9.4: 2020-03-15
==================
- octovis: Enable Qt5 by default
- Support added for configurable libdir for packaging
- Increased minimum CMake version to 3.0.2
v1.9.3: 2019-12-26
==================
- Fixed Wpedantic warnings
- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
v1.9.2: 2019-11-28
==================
- Fixed ROS buildfarm failures for octovis
v1.9.1: 2019-11-23
==================
- Improved compatibility with modern compilers and ROS2
v1.9.0: 2017-04-28
==================
- Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)
- dynamicEDT3D templated over OctoMap type (thx to J.V. Gomez)
- Added optimized rendering option and command line option for tree cutoff
in octovis (thx to F. Endres)
- Added optional Qt5 support in octovis (thx to K. Stepanas)
- Improved the generation of config.cmake and version.cmake files, make them
relocatable via CONFIGURE_PACKAGE_CONFIG_FILE (thx to J.V. Gomez)
- Enable rpath on OS X when the CMake version supports it (thx to J. Snape)
- Added version information to *-config.cmake files and exported targets to
CMakeLists.txt (thx to J. Snape)
- Improved CMake build by specifically targeting local includes (thx to
C.-E. Hrabia)
v1.8.1: 2017-01-13
==================
- Disambiguated isnan (C++11)
- Fixed #123: Set root=NULL in clear()
- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
v1.8.0: 2016-04-20
==================
- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
enable safely deriving custom node classes. The following functions were
moved from OcTreeDataNode into OcTreeBaseImpl:
createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
expandNode() -> OcTreeBaseImpl::expandNode(...)
pruneNode() -> OcTreeBaseImpl::pruneNode(...)
hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)
If you use custom derived node classes, you need to adjust your code to the
new API (have a look at ColorOcTree.h as an example). In particular, you
should no longer use the above node member functions in your nodes.
- Extended unit tests for the new memory management
- Added valgrind memcheck suppression file with known ("wanted") leaks due to
StaticMemberInitializer.
- Replaced `unsigned short int` for key values with octomap::key_type
(=uint16_t) and unsigned char with uint8_t in API.
- Cleaned up OcTreeKey and KeyRay API (used internally)
- Reduced unneeded memory for StaticMemberInitializer
- Cleaned up const refs to primitive types in ColorOcTree interface
- Removed deprecated insertScan functions (replaced by insertPointCloud)
- Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
OcTreeBaseSE classes
- octovis: Internal version of libQGLViewer updated to 2.6.3
v1.7.2: 2016-03-26
==================
- BBX iterators fixed for empty trees (point3d version)
- Removed qglviewer.h from some public octovis headers
- Fixed QGLViewer library names for Ubuntu wily and xenial
- Fixed install path in CMakeConfigs
v1.7.1: 2016-01-31
==================
- Fixed #82: Enable uninstall target for complete project
- Fixed #47: Exported CMake library paths for Windows no longer
have the Release/Debug prefix and correctly contain the .lib file
- Fixed #51: IO factory class registry with MSVC. Calling a dummy
function from an OcTree class c'tor enables reading general .ot files
when compiling with MSVC
- Fixed #100: Explicit casts to avoid warnings with MSVC
v1.7.0: 2015-11-27
==================
- BBX iterators fixed for empty trees (thx to F. Boniardi)
- graph2tree tool option for nodes in global frame
- New octree2pointcloud PCL conversion tool (thx to F. Ferri)
- Improved change detection / diff calculation (thx to C. Brew)
- getUnknownLeafCenters now allows queries at a specified depth (thx to
A. Ecins)
- Fixed hashing overflow with clang (thx to L. Riano)
v1.6.9: 2016-01-13
==================
- Maintenance release for ROS:
Added function to determine state of change detection
v1.6.7: 2014-08-31
==================
- FSF address in octovis license header for OctoMap package in Fedora
- Separate build options for octovis and dynamicEDT3D. Thanks to C. Reist!
v1.6.6: 2014-05-26
==================
- Support for SOVERSION in the libraries for better packaging
- Warning for unknown space in castRay() removed (needs to be inferred by
calling code depending on return value and endpoint voxel)
- Marching cubes for ray surface intersection extended
- Fixed QGLViewer include paths
- ScanGraph read error no longer exits the process
v1.6.5: 2014-03-14
==================
- Fix octovis includes for QGLViewer > 2.5
v1.6.4: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.6.3: 2014-01-13
==================
- New function setNodeValue(...) to directly set a node's value (#31)
- New approximate point cloud insertion as fast variant (#39, see flag for
insertPointCloud(...) / new function computeDiscreteUpdate(...)
v1.6.2: 2013-11-26
==================
- Improved OSX 10.9 compatibility (thx to B. Jensen)
- Improved VC++ compatibility (thx to tmdiv)
- New fct. getRayIntersection to get real intersection of raycasting on
voxel (thanks to F-M. de Rainville)
- Fix #54: Quote paths in CMake configs to avoid problems with spaces
- Fix #53: Auto-pruning after updateNode
- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
- octovis now includes QGLViewer 2.4 (Qt5 support)
- octovis now looks for the octomap version of the same number
v1.6.1: 2013-06-19
==================
- New function swapContent to exchange the contents of two octrees (issue #32)
- New normal estimation based on marching cubes (thanks to F-M. de Rainville)
- Fixed octovis edit box affecting small selection ranges
- Fixed compilation with gcc 4.8 and OSX (issues #23 #28)
v1.6.0: 2013-04-05
==================
- Speedup: Pruning is now done only on affected nodes on each call to
updateNode(). You no longer have to call prune(), except when you manually
change nodes or use lazy_update.
- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
- Empty octrees no longer contain a root node (#11)
- Library names in CMake configs are now absolute paths, you should no longer
use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
- graph2tree: pointcloud is transformed in batch before insertion, small changes
in command line options
- octovis: more map editing options, fixed setting nodes to free/occupied (thx
to C. Dornhege)
- Sample data is now in octomap/share
v1.5.7: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.5.6: 2013-06-10
==================
- Fixed compilation with OSX 10.8 (issue #23)
v1.5.5: 2013-05-05
==================
- Fixed compilation of external code against OctoMap with gcc4.8 (issue #28)
v1.5.4: 2013-02-27
==================
- Removed binvox binaries from sources for improved packaging compatibility
(ticket #18). Download from www.cs.princeton.edu/~min/binvox/ instead.
v1.5.3: 2012-12-18
==================
- CMakeConfig now installs into share/octomap instead of lib/cmake/octomap for
better compatibility with ROS
- ROS package.xml removed, will be added in the release process
- added sensor model parameters to graph2tree
- new octree evaluation tool: eval_octree_accuracy and compare_octrees
v1.5.2: 2012-11-02
==================
- Fixed compilation with gcc 4.7 (Ubuntu Quantal)
v1.5.1: 2012-10-16
===================
- Fixed raycasting corner cases, expanded unit tests
- added double precision 3D coordinate conversions (ticket #13)
- Fixed compatibility with MSVC
v1.5.0: 2012-08-28
===================
- dynamicEDT3D, a library for dynamically updatable distance maps by C. Sprunk,
B. Lau, and W. Burgard is now available as part of the OctoMap distribution
- added AbstractOccupancyOcTree interface class, moved binary file IO
- delete functionality added to octrees and nodes
- octovis can now delete nodes inside or outside of a selection box
- operator== and copy constructor for octree nodes and octrees
- key / coordinate conversion functions are now clearly named and documented.
genPos/genKey deprecated in favor of coordToKey, keyToCoord
- added limited-depth search
- deep-copy constructor for octrees and nodes, assignment op. is private
- improved compatibility with MSVC (thx to J. Aguado)
- internal QGLViewer version increased to 2.3.17
- cleanup: functions removed /deprecated in favor or iterator-base node traversal
- cleanup: private members renamed (tree root / node children)
v1.4.3: 2012-10-07
==================
- Fixed raycasting corner cases, expanded unit tests
- iterator_base derives public for boost::filter
v1.4.2: 2012-04-24
===================
- extended graph2tree with more verbose logging / statistics
- fixed conversion from color .ot to .bt in convert_octree
- minor fixes in octovis with color rendering
- fixed octovis compilation with Qt 4.8 (Ubuntu 12.04)
- experimental editing functionality in octovis to clear and fill volumes
v1.4.1: 2012-03-12
===================
- added stack.yaml for release in ROS with catkin
v1.4: 2012-02-22
===================
- New generalized file IO for all kinds of OcTrees to .ot files. The updated
file format requires a conversion of your old bt and ot files with the
"convert_octree" tool. bt files are read and written as before.
To write the general .ot file format use tree.write(...) and read it with
AbstractOcTree::read(...) as factory (dynamic_cast to the correct class
afterwards).
- New ColorOcTree class to store color in addition to occupancy
(e.g. from Kinect), with visualization in octovis
- New map collections of octrees (hierarchical octree maps, experimental)
- Support for Linux, Mac OSX, and Windows
- enhancements and fixes in changeDetection
- minor fixes and unit tests added
v1.2: 2011-08-17
===================
- divided code into a library (octomap) and visualization part (octvis) to
remove dependencies on Qt / OpenGL from library. Both can be built
independently or as a complete package.
- iterators for fast and flexible tree access (check doxygen of OcTreeBase::
iterator) are the preferred way to traverse tree nodes now
- improved speed of map update / scan insertion. A further speedup is possible
when using the "lazy evaluation" flag for batch insertion
- unit tests based on CTest ("make test")
- CMake improvements: new targets "dist" (build package) and "uninstall",
dynamic and static libs are built. CMake package config to ease integration
into other CMake-based systems (install octomap globally, or set the
environment variable octomap_DIR to your OctoMap location
- occupancy and sensor parameters are now a property of the tree and not the
nodes. Use e.g. tree->isNodeOccupied(node) instead of node->isOccupied()
- cleanup of OcTree and OccupancyOcTree: the latter now holds most of the
implementation to ease deriving own tree and node types.
See OcTreeStamped for an example.
- debug output is now muted when not compiling as "Debug", ROS logging levels
are used when compiled in ROS
- experimental change detection in occupancy octrees
- bugfixes and general compatibility improvements
v1.0: 2011-03-15
===================
- cleanup of insertScan methods
- key-based raycasting with pre-allocated KeyRay
- speedup and cleanup of math, inlining
v0.8: 2010-11-16
===================
- improved speed of map update / scan insertion
- improved speed of map queries (isOccupied / castRay)
- key-based computations to improve numerical stability and efficiency
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| grid_map_octomap | |
| dynamic_edt_3d | |
| octovis |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged octomap at Robotics Stack Exchange
No version for distro kilted. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
|
|
octomap package from octomap repodynamic_edt_3d octomap octovis |
Package Summary
| Tags | No category tags. |
| Version | 1.10.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/OctoMap/octomap.git |
| VCS Type | git |
| VCS Version | devel |
| Last Updated | 2025-04-20 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
http://octomap.github.io for details.
Additional Links
Maintainers
- Armin Hornung
- Wolfgang Merkt
Authors
- Kai M. Wurm
- Armin Hornung
Octomap - A probabilistic, flexible, and compact 3D mapping library for robotic systems
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. https://octomap.github.io
See the list of contributors for further authors.
License for octomap: New BSD License
REQUIREMENTS
- For only the octomap library: cmake and a regular build environment (gcc)
- For HTML documentation: doxygen (optional)
- For the viewer octovis: Qt4, OpenGL, QGLViewer (optional)
Skip to WINDOWS for tips on compilation under Windows. You can install all dependencies on Ubuntu by running:
sudo apt-get install cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
(Note: for older releases of Ubuntu you need to exchange the last package name with libqglviewer-qt4-dev)
INSTALLATION
See http://www.ros.org/wiki/octomap if you want to use OctoMap in ROS! There are pre-compiled packages for octomap, octovis, and ROS integration available.
Build the complete project by changing into the “build” directory and running cmake:
mkdir build && cd build
cmake ..
Type make to compile afterwards. This will create all CMake
files cleanly in the build folder (Out-of-source build).
Executables will end up in bin, libraries in lib.
A debug configuration can be created by running:
cmake -DCMAKE_BUILD_TYPE=Debug ..
in build or a different directory (e.g. build-debug).
You can install the library by running make install, though it
is usually not necessary. Be sure to adjust CMAKE_INSTALL_PREFIX before.
The target make test executes the unit tests for the octomap library,
if you are interested in verifying the functionality on your machine.
DOCUMENTATION
The documentation for the latest stable release is available online: https://octomap.github.io/octomap/doc/index.html
You can build the most current HTML-Documentation for your current
source with Doxygen by running make docs
in the build directory. The documentation will end up in
doc/html/index.html in the main directory.
GETTING STARTED
Jump right in and have a look at the example src/octomap/simple_example.cpp
Or start the 3D viewer with bin/octovis
You will find an example scan and binary tree to load in the directory share.
Further examples can be downloaded from the project website.
USE IN OTHER PROJECTS
A CMake-project config is generated for OctoMap which allows OctoMap to be used from other CMake-Projects easily.
Point CMake to your octomap installation so that it finds the file
octomap/lib/cmake/octomap/octomap-config.cmake, e.g. by setting the environment
variable octomap_DIRto the directory containing it.
Then add the following to your CMakeLists.txt:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
In addition to this cmake-module we also provide a pkgconfig-file.
For convenience, there is a minimal example project included in the file share/example-project.tgz
ECLIPSE PROJECT FILES
Eclipse project files can be generated (with some limitations, see: https://gitlab.kitware.com/cmake/community/-/wikis/doc/editors/Eclipse-CDT4-Generator) by running:
cmake -G"Eclipse CDT4 - Unix Makefiles" ..
Import the project (existing project, root is the build folder, do not copy contents) into Eclipse afterwards. For full Eclipse compatibility, it might be necessary to build in the main source directory.
WINDOWS
The octomap library and tools can be compiled and used under Windows although this has not been tested in-depth. Feedback is welcome.
To compile the library you need cmake (https://www.cmake.org) and either MinGW or Visual Studio.
MinGW
- Download the MinGW distribution (http://www.mingw.org)
- Install C++ compiler and add MingGW/bin to your system PATH
- Start the cmake-gui and set the code directory to the
library root (e.g.
/octomap) - Create and set the build directory to, e.g.,
/octomap/build. - Press “Configure” then “Generate”, select the appropriate generator, “MinGW Makefiles”.
-
Start a command shell and “make” the project:
octomap> cd build octomap/build> mingw32-make.exe
As verification, you can run the unit tests using ctest on the command prompt:
octomap/build> ctest.exe
Microsoft Visual Studio (2013 or later recommended)
Last tested with MSVC 2013 and 2015 (Community Edition).
- Start the cmake-gui and set the source code directory to the
library root (e.g.
\octomap) - Create a build directory and set it in CMake (“Where to build the
binaries”), e.g.
\octomap\build. - Press “Configure” then “Generate”, select the appropriate generator, e.g. “Visual Studio 2015”.
This generates a solution file
octomap.slnin the build directory. - Load this file and build the project
ALL_BUILDin Visual Studio.
Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
you can only build octomap by proceeding as described above but in the octomap
subdirectory. This can help you getting started when there are problems with
octovis and Qt4.
As verification, you can run the unit tests in Visual Studio by building the
RUN_TESTS project or by using ctest on the command prompt:
octomap/build> ctest.exe -C Release
CHANGELOG
v1.10.0: 2024-03-19
===================
- CMake: Fix duplicate uninstall target (#406)
- Fix errors with recent compilers and C++17/20 standard (#394)
- Fix ScanGraph.h c++20 compilation error (#398)
- Add smaller than operator for vectors (#330)
- Add vcpkg installation instructions to Readme (#382)
- Fix test dependencies in CMakeLists (#374)
- replace deprecated std::iterator by defining required types (#373)
- octovis: fix issue with saving not showing any dialog (#414)
- octovis: Fix deprecated QString and glext redefinition warning (#375)
- octovis: Declare missing dependency on opengl (#408)
- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
- ROS: Remove ccache for ROS-Industrial CI yml (#413)
- ROS: Remove EOL ROS distros from CI actions
v1.9.8: 2022-05-12
==================
- Also set lowercase octomap_* variables in CMake config (#369)
- Fix float tests and overflow problem in binvox2bt
- Fix to freespace update when bbx is set. (#360)
- Update Doxygen & URLs (#354,#352)
- make setBBXMin/Max parameters const (#348)
- ROS: Remove unused ament_cmake dependency.
- octovis: Implement volume selection features (#339)
- octovis: Link dependencies in octovis-static library (#340)
v1.9.7: 2021-05-03
==================
- Use explicit casting to prevent implicit sign conversion
- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
v1.9.6: 2021-01-23
==================
- Fixed ifstream >> byte with c++17
- strict warnings_as_errors compiler options and corresponding fixes
- octovis: Fixed qmake command to build libQGLViewer with Qt5.
- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
- octovis: use -fPIC with all compilers
v1.9.5: 2020-03-25
==================
- octovis: Update ROS dependencies to Qt5
v1.9.4: 2020-03-15
==================
- octovis: Enable Qt5 by default
- Support added for configurable libdir for packaging
- Increased minimum CMake version to 3.0.2
v1.9.3: 2019-12-26
==================
- Fixed Wpedantic warnings
- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
v1.9.2: 2019-11-28
==================
- Fixed ROS buildfarm failures for octovis
v1.9.1: 2019-11-23
==================
- Improved compatibility with modern compilers and ROS2
v1.9.0: 2017-04-28
==================
- Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)
- dynamicEDT3D templated over OctoMap type (thx to J.V. Gomez)
- Added optimized rendering option and command line option for tree cutoff
in octovis (thx to F. Endres)
- Added optional Qt5 support in octovis (thx to K. Stepanas)
- Improved the generation of config.cmake and version.cmake files, make them
relocatable via CONFIGURE_PACKAGE_CONFIG_FILE (thx to J.V. Gomez)
- Enable rpath on OS X when the CMake version supports it (thx to J. Snape)
- Added version information to *-config.cmake files and exported targets to
CMakeLists.txt (thx to J. Snape)
- Improved CMake build by specifically targeting local includes (thx to
C.-E. Hrabia)
v1.8.1: 2017-01-13
==================
- Disambiguated isnan (C++11)
- Fixed #123: Set root=NULL in clear()
- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
v1.8.0: 2016-04-20
==================
- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
enable safely deriving custom node classes. The following functions were
moved from OcTreeDataNode into OcTreeBaseImpl:
createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
expandNode() -> OcTreeBaseImpl::expandNode(...)
pruneNode() -> OcTreeBaseImpl::pruneNode(...)
hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)
If you use custom derived node classes, you need to adjust your code to the
new API (have a look at ColorOcTree.h as an example). In particular, you
should no longer use the above node member functions in your nodes.
- Extended unit tests for the new memory management
- Added valgrind memcheck suppression file with known ("wanted") leaks due to
StaticMemberInitializer.
- Replaced `unsigned short int` for key values with octomap::key_type
(=uint16_t) and unsigned char with uint8_t in API.
- Cleaned up OcTreeKey and KeyRay API (used internally)
- Reduced unneeded memory for StaticMemberInitializer
- Cleaned up const refs to primitive types in ColorOcTree interface
- Removed deprecated insertScan functions (replaced by insertPointCloud)
- Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
OcTreeBaseSE classes
- octovis: Internal version of libQGLViewer updated to 2.6.3
v1.7.2: 2016-03-26
==================
- BBX iterators fixed for empty trees (point3d version)
- Removed qglviewer.h from some public octovis headers
- Fixed QGLViewer library names for Ubuntu wily and xenial
- Fixed install path in CMakeConfigs
v1.7.1: 2016-01-31
==================
- Fixed #82: Enable uninstall target for complete project
- Fixed #47: Exported CMake library paths for Windows no longer
have the Release/Debug prefix and correctly contain the .lib file
- Fixed #51: IO factory class registry with MSVC. Calling a dummy
function from an OcTree class c'tor enables reading general .ot files
when compiling with MSVC
- Fixed #100: Explicit casts to avoid warnings with MSVC
v1.7.0: 2015-11-27
==================
- BBX iterators fixed for empty trees (thx to F. Boniardi)
- graph2tree tool option for nodes in global frame
- New octree2pointcloud PCL conversion tool (thx to F. Ferri)
- Improved change detection / diff calculation (thx to C. Brew)
- getUnknownLeafCenters now allows queries at a specified depth (thx to
A. Ecins)
- Fixed hashing overflow with clang (thx to L. Riano)
v1.6.9: 2016-01-13
==================
- Maintenance release for ROS:
Added function to determine state of change detection
v1.6.7: 2014-08-31
==================
- FSF address in octovis license header for OctoMap package in Fedora
- Separate build options for octovis and dynamicEDT3D. Thanks to C. Reist!
v1.6.6: 2014-05-26
==================
- Support for SOVERSION in the libraries for better packaging
- Warning for unknown space in castRay() removed (needs to be inferred by
calling code depending on return value and endpoint voxel)
- Marching cubes for ray surface intersection extended
- Fixed QGLViewer include paths
- ScanGraph read error no longer exits the process
v1.6.5: 2014-03-14
==================
- Fix octovis includes for QGLViewer > 2.5
v1.6.4: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.6.3: 2014-01-13
==================
- New function setNodeValue(...) to directly set a node's value (#31)
- New approximate point cloud insertion as fast variant (#39, see flag for
insertPointCloud(...) / new function computeDiscreteUpdate(...)
v1.6.2: 2013-11-26
==================
- Improved OSX 10.9 compatibility (thx to B. Jensen)
- Improved VC++ compatibility (thx to tmdiv)
- New fct. getRayIntersection to get real intersection of raycasting on
voxel (thanks to F-M. de Rainville)
- Fix #54: Quote paths in CMake configs to avoid problems with spaces
- Fix #53: Auto-pruning after updateNode
- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
- octovis now includes QGLViewer 2.4 (Qt5 support)
- octovis now looks for the octomap version of the same number
v1.6.1: 2013-06-19
==================
- New function swapContent to exchange the contents of two octrees (issue #32)
- New normal estimation based on marching cubes (thanks to F-M. de Rainville)
- Fixed octovis edit box affecting small selection ranges
- Fixed compilation with gcc 4.8 and OSX (issues #23 #28)
v1.6.0: 2013-04-05
==================
- Speedup: Pruning is now done only on affected nodes on each call to
updateNode(). You no longer have to call prune(), except when you manually
change nodes or use lazy_update.
- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
- Empty octrees no longer contain a root node (#11)
- Library names in CMake configs are now absolute paths, you should no longer
use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
- graph2tree: pointcloud is transformed in batch before insertion, small changes
in command line options
- octovis: more map editing options, fixed setting nodes to free/occupied (thx
to C. Dornhege)
- Sample data is now in octomap/share
v1.5.7: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.5.6: 2013-06-10
==================
- Fixed compilation with OSX 10.8 (issue #23)
v1.5.5: 2013-05-05
==================
- Fixed compilation of external code against OctoMap with gcc4.8 (issue #28)
v1.5.4: 2013-02-27
==================
- Removed binvox binaries from sources for improved packaging compatibility
(ticket #18). Download from www.cs.princeton.edu/~min/binvox/ instead.
v1.5.3: 2012-12-18
==================
- CMakeConfig now installs into share/octomap instead of lib/cmake/octomap for
better compatibility with ROS
- ROS package.xml removed, will be added in the release process
- added sensor model parameters to graph2tree
- new octree evaluation tool: eval_octree_accuracy and compare_octrees
v1.5.2: 2012-11-02
==================
- Fixed compilation with gcc 4.7 (Ubuntu Quantal)
v1.5.1: 2012-10-16
===================
- Fixed raycasting corner cases, expanded unit tests
- added double precision 3D coordinate conversions (ticket #13)
- Fixed compatibility with MSVC
v1.5.0: 2012-08-28
===================
- dynamicEDT3D, a library for dynamically updatable distance maps by C. Sprunk,
B. Lau, and W. Burgard is now available as part of the OctoMap distribution
- added AbstractOccupancyOcTree interface class, moved binary file IO
- delete functionality added to octrees and nodes
- octovis can now delete nodes inside or outside of a selection box
- operator== and copy constructor for octree nodes and octrees
- key / coordinate conversion functions are now clearly named and documented.
genPos/genKey deprecated in favor of coordToKey, keyToCoord
- added limited-depth search
- deep-copy constructor for octrees and nodes, assignment op. is private
- improved compatibility with MSVC (thx to J. Aguado)
- internal QGLViewer version increased to 2.3.17
- cleanup: functions removed /deprecated in favor or iterator-base node traversal
- cleanup: private members renamed (tree root / node children)
v1.4.3: 2012-10-07
==================
- Fixed raycasting corner cases, expanded unit tests
- iterator_base derives public for boost::filter
v1.4.2: 2012-04-24
===================
- extended graph2tree with more verbose logging / statistics
- fixed conversion from color .ot to .bt in convert_octree
- minor fixes in octovis with color rendering
- fixed octovis compilation with Qt 4.8 (Ubuntu 12.04)
- experimental editing functionality in octovis to clear and fill volumes
v1.4.1: 2012-03-12
===================
- added stack.yaml for release in ROS with catkin
v1.4: 2012-02-22
===================
- New generalized file IO for all kinds of OcTrees to .ot files. The updated
file format requires a conversion of your old bt and ot files with the
"convert_octree" tool. bt files are read and written as before.
To write the general .ot file format use tree.write(...) and read it with
AbstractOcTree::read(...) as factory (dynamic_cast to the correct class
afterwards).
- New ColorOcTree class to store color in addition to occupancy
(e.g. from Kinect), with visualization in octovis
- New map collections of octrees (hierarchical octree maps, experimental)
- Support for Linux, Mac OSX, and Windows
- enhancements and fixes in changeDetection
- minor fixes and unit tests added
v1.2: 2011-08-17
===================
- divided code into a library (octomap) and visualization part (octvis) to
remove dependencies on Qt / OpenGL from library. Both can be built
independently or as a complete package.
- iterators for fast and flexible tree access (check doxygen of OcTreeBase::
iterator) are the preferred way to traverse tree nodes now
- improved speed of map update / scan insertion. A further speedup is possible
when using the "lazy evaluation" flag for batch insertion
- unit tests based on CTest ("make test")
- CMake improvements: new targets "dist" (build package) and "uninstall",
dynamic and static libs are built. CMake package config to ease integration
into other CMake-based systems (install octomap globally, or set the
environment variable octomap_DIR to your OctoMap location
- occupancy and sensor parameters are now a property of the tree and not the
nodes. Use e.g. tree->isNodeOccupied(node) instead of node->isOccupied()
- cleanup of OcTree and OccupancyOcTree: the latter now holds most of the
implementation to ease deriving own tree and node types.
See OcTreeStamped for an example.
- debug output is now muted when not compiling as "Debug", ROS logging levels
are used when compiled in ROS
- experimental change detection in occupancy octrees
- bugfixes and general compatibility improvements
v1.0: 2011-03-15
===================
- cleanup of insertScan methods
- key-based raycasting with pre-allocated KeyRay
- speedup and cleanup of math, inlining
v0.8: 2010-11-16
===================
- improved speed of map update / scan insertion
- improved speed of map queries (isOccupied / castRay)
- key-based computations to improve numerical stability and efficiency
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged octomap at Robotics Stack Exchange
No version for distro ardent. Known supported distros are highlighted in the buttons above.
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No version for distro crystal. Known supported distros are highlighted in the buttons above.
|
|
octomap package from octomap repodynamic_edt_3d octomap octovis |
Package Summary
| Tags | No category tags. |
| Version | 1.10.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/octomap/octomap.git |
| VCS Type | git |
| VCS Version | devel |
| Last Updated | 2025-04-20 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
http://octomap.github.io for details.
Additional Links
Maintainers
- Armin Hornung
- Wolfgang Merkt
Authors
- Kai M. Wurm
- Armin Hornung
Octomap - A probabilistic, flexible, and compact 3D mapping library for robotic systems
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. https://octomap.github.io
See the list of contributors for further authors.
License for octomap: New BSD License
REQUIREMENTS
- For only the octomap library: cmake and a regular build environment (gcc)
- For HTML documentation: doxygen (optional)
- For the viewer octovis: Qt4, OpenGL, QGLViewer (optional)
Skip to WINDOWS for tips on compilation under Windows. You can install all dependencies on Ubuntu by running:
sudo apt-get install cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
(Note: for older releases of Ubuntu you need to exchange the last package name with libqglviewer-qt4-dev)
INSTALLATION
See http://www.ros.org/wiki/octomap if you want to use OctoMap in ROS! There are pre-compiled packages for octomap, octovis, and ROS integration available.
Build the complete project by changing into the “build” directory and running cmake:
mkdir build && cd build
cmake ..
Type make to compile afterwards. This will create all CMake
files cleanly in the build folder (Out-of-source build).
Executables will end up in bin, libraries in lib.
A debug configuration can be created by running:
cmake -DCMAKE_BUILD_TYPE=Debug ..
in build or a different directory (e.g. build-debug).
You can install the library by running make install, though it
is usually not necessary. Be sure to adjust CMAKE_INSTALL_PREFIX before.
The target make test executes the unit tests for the octomap library,
if you are interested in verifying the functionality on your machine.
DOCUMENTATION
The documentation for the latest stable release is available online: https://octomap.github.io/octomap/doc/index.html
You can build the most current HTML-Documentation for your current
source with Doxygen by running make docs
in the build directory. The documentation will end up in
doc/html/index.html in the main directory.
GETTING STARTED
Jump right in and have a look at the example src/octomap/simple_example.cpp
Or start the 3D viewer with bin/octovis
You will find an example scan and binary tree to load in the directory share.
Further examples can be downloaded from the project website.
USE IN OTHER PROJECTS
A CMake-project config is generated for OctoMap which allows OctoMap to be used from other CMake-Projects easily.
Point CMake to your octomap installation so that it finds the file
octomap/lib/cmake/octomap/octomap-config.cmake, e.g. by setting the environment
variable octomap_DIRto the directory containing it.
Then add the following to your CMakeLists.txt:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
In addition to this cmake-module we also provide a pkgconfig-file.
For convenience, there is a minimal example project included in the file share/example-project.tgz
ECLIPSE PROJECT FILES
Eclipse project files can be generated (with some limitations, see: https://gitlab.kitware.com/cmake/community/-/wikis/doc/editors/Eclipse-CDT4-Generator) by running:
cmake -G"Eclipse CDT4 - Unix Makefiles" ..
Import the project (existing project, root is the build folder, do not copy contents) into Eclipse afterwards. For full Eclipse compatibility, it might be necessary to build in the main source directory.
WINDOWS
The octomap library and tools can be compiled and used under Windows although this has not been tested in-depth. Feedback is welcome.
To compile the library you need cmake (https://www.cmake.org) and either MinGW or Visual Studio.
MinGW
- Download the MinGW distribution (http://www.mingw.org)
- Install C++ compiler and add MingGW/bin to your system PATH
- Start the cmake-gui and set the code directory to the
library root (e.g.
/octomap) - Create and set the build directory to, e.g.,
/octomap/build. - Press “Configure” then “Generate”, select the appropriate generator, “MinGW Makefiles”.
-
Start a command shell and “make” the project:
octomap> cd build octomap/build> mingw32-make.exe
As verification, you can run the unit tests using ctest on the command prompt:
octomap/build> ctest.exe
Microsoft Visual Studio (2013 or later recommended)
Last tested with MSVC 2013 and 2015 (Community Edition).
- Start the cmake-gui and set the source code directory to the
library root (e.g.
\octomap) - Create a build directory and set it in CMake (“Where to build the
binaries”), e.g.
\octomap\build. - Press “Configure” then “Generate”, select the appropriate generator, e.g. “Visual Studio 2015”.
This generates a solution file
octomap.slnin the build directory. - Load this file and build the project
ALL_BUILDin Visual Studio.
Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
you can only build octomap by proceeding as described above but in the octomap
subdirectory. This can help you getting started when there are problems with
octovis and Qt4.
As verification, you can run the unit tests in Visual Studio by building the
RUN_TESTS project or by using ctest on the command prompt:
octomap/build> ctest.exe -C Release
CHANGELOG
v1.10.0: 2024-03-19
===================
- CMake: Fix duplicate uninstall target (#406)
- Fix errors with recent compilers and C++17/20 standard (#394)
- Fix ScanGraph.h c++20 compilation error (#398)
- Add smaller than operator for vectors (#330)
- Add vcpkg installation instructions to Readme (#382)
- Fix test dependencies in CMakeLists (#374)
- replace deprecated std::iterator by defining required types (#373)
- octovis: fix issue with saving not showing any dialog (#414)
- octovis: Fix deprecated QString and glext redefinition warning (#375)
- octovis: Declare missing dependency on opengl (#408)
- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
- ROS: Remove ccache for ROS-Industrial CI yml (#413)
- ROS: Remove EOL ROS distros from CI actions
v1.9.8: 2022-05-12
==================
- Also set lowercase octomap_* variables in CMake config (#369)
- Fix float tests and overflow problem in binvox2bt
- Fix to freespace update when bbx is set. (#360)
- Update Doxygen & URLs (#354,#352)
- make setBBXMin/Max parameters const (#348)
- ROS: Remove unused ament_cmake dependency.
- octovis: Implement volume selection features (#339)
- octovis: Link dependencies in octovis-static library (#340)
v1.9.7: 2021-05-03
==================
- Use explicit casting to prevent implicit sign conversion
- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
v1.9.6: 2021-01-23
==================
- Fixed ifstream >> byte with c++17
- strict warnings_as_errors compiler options and corresponding fixes
- octovis: Fixed qmake command to build libQGLViewer with Qt5.
- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
- octovis: use -fPIC with all compilers
v1.9.5: 2020-03-25
==================
- octovis: Update ROS dependencies to Qt5
v1.9.4: 2020-03-15
==================
- octovis: Enable Qt5 by default
- Support added for configurable libdir for packaging
- Increased minimum CMake version to 3.0.2
v1.9.3: 2019-12-26
==================
- Fixed Wpedantic warnings
- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
v1.9.2: 2019-11-28
==================
- Fixed ROS buildfarm failures for octovis
v1.9.1: 2019-11-23
==================
- Improved compatibility with modern compilers and ROS2
v1.9.0: 2017-04-28
==================
- Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)
- dynamicEDT3D templated over OctoMap type (thx to J.V. Gomez)
- Added optimized rendering option and command line option for tree cutoff
in octovis (thx to F. Endres)
- Added optional Qt5 support in octovis (thx to K. Stepanas)
- Improved the generation of config.cmake and version.cmake files, make them
relocatable via CONFIGURE_PACKAGE_CONFIG_FILE (thx to J.V. Gomez)
- Enable rpath on OS X when the CMake version supports it (thx to J. Snape)
- Added version information to *-config.cmake files and exported targets to
CMakeLists.txt (thx to J. Snape)
- Improved CMake build by specifically targeting local includes (thx to
C.-E. Hrabia)
v1.8.1: 2017-01-13
==================
- Disambiguated isnan (C++11)
- Fixed #123: Set root=NULL in clear()
- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
v1.8.0: 2016-04-20
==================
- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
enable safely deriving custom node classes. The following functions were
moved from OcTreeDataNode into OcTreeBaseImpl:
createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
expandNode() -> OcTreeBaseImpl::expandNode(...)
pruneNode() -> OcTreeBaseImpl::pruneNode(...)
hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)
If you use custom derived node classes, you need to adjust your code to the
new API (have a look at ColorOcTree.h as an example). In particular, you
should no longer use the above node member functions in your nodes.
- Extended unit tests for the new memory management
- Added valgrind memcheck suppression file with known ("wanted") leaks due to
StaticMemberInitializer.
- Replaced `unsigned short int` for key values with octomap::key_type
(=uint16_t) and unsigned char with uint8_t in API.
- Cleaned up OcTreeKey and KeyRay API (used internally)
- Reduced unneeded memory for StaticMemberInitializer
- Cleaned up const refs to primitive types in ColorOcTree interface
- Removed deprecated insertScan functions (replaced by insertPointCloud)
- Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
OcTreeBaseSE classes
- octovis: Internal version of libQGLViewer updated to 2.6.3
v1.7.2: 2016-03-26
==================
- BBX iterators fixed for empty trees (point3d version)
- Removed qglviewer.h from some public octovis headers
- Fixed QGLViewer library names for Ubuntu wily and xenial
- Fixed install path in CMakeConfigs
v1.7.1: 2016-01-31
==================
- Fixed #82: Enable uninstall target for complete project
- Fixed #47: Exported CMake library paths for Windows no longer
have the Release/Debug prefix and correctly contain the .lib file
- Fixed #51: IO factory class registry with MSVC. Calling a dummy
function from an OcTree class c'tor enables reading general .ot files
when compiling with MSVC
- Fixed #100: Explicit casts to avoid warnings with MSVC
v1.7.0: 2015-11-27
==================
- BBX iterators fixed for empty trees (thx to F. Boniardi)
- graph2tree tool option for nodes in global frame
- New octree2pointcloud PCL conversion tool (thx to F. Ferri)
- Improved change detection / diff calculation (thx to C. Brew)
- getUnknownLeafCenters now allows queries at a specified depth (thx to
A. Ecins)
- Fixed hashing overflow with clang (thx to L. Riano)
v1.6.9: 2016-01-13
==================
- Maintenance release for ROS:
Added function to determine state of change detection
v1.6.7: 2014-08-31
==================
- FSF address in octovis license header for OctoMap package in Fedora
- Separate build options for octovis and dynamicEDT3D. Thanks to C. Reist!
v1.6.6: 2014-05-26
==================
- Support for SOVERSION in the libraries for better packaging
- Warning for unknown space in castRay() removed (needs to be inferred by
calling code depending on return value and endpoint voxel)
- Marching cubes for ray surface intersection extended
- Fixed QGLViewer include paths
- ScanGraph read error no longer exits the process
v1.6.5: 2014-03-14
==================
- Fix octovis includes for QGLViewer > 2.5
v1.6.4: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.6.3: 2014-01-13
==================
- New function setNodeValue(...) to directly set a node's value (#31)
- New approximate point cloud insertion as fast variant (#39, see flag for
insertPointCloud(...) / new function computeDiscreteUpdate(...)
v1.6.2: 2013-11-26
==================
- Improved OSX 10.9 compatibility (thx to B. Jensen)
- Improved VC++ compatibility (thx to tmdiv)
- New fct. getRayIntersection to get real intersection of raycasting on
voxel (thanks to F-M. de Rainville)
- Fix #54: Quote paths in CMake configs to avoid problems with spaces
- Fix #53: Auto-pruning after updateNode
- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
- octovis now includes QGLViewer 2.4 (Qt5 support)
- octovis now looks for the octomap version of the same number
v1.6.1: 2013-06-19
==================
- New function swapContent to exchange the contents of two octrees (issue #32)
- New normal estimation based on marching cubes (thanks to F-M. de Rainville)
- Fixed octovis edit box affecting small selection ranges
- Fixed compilation with gcc 4.8 and OSX (issues #23 #28)
v1.6.0: 2013-04-05
==================
- Speedup: Pruning is now done only on affected nodes on each call to
updateNode(). You no longer have to call prune(), except when you manually
change nodes or use lazy_update.
- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
- Empty octrees no longer contain a root node (#11)
- Library names in CMake configs are now absolute paths, you should no longer
use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
- graph2tree: pointcloud is transformed in batch before insertion, small changes
in command line options
- octovis: more map editing options, fixed setting nodes to free/occupied (thx
to C. Dornhege)
- Sample data is now in octomap/share
v1.5.7: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.5.6: 2013-06-10
==================
- Fixed compilation with OSX 10.8 (issue #23)
v1.5.5: 2013-05-05
==================
- Fixed compilation of external code against OctoMap with gcc4.8 (issue #28)
v1.5.4: 2013-02-27
==================
- Removed binvox binaries from sources for improved packaging compatibility
(ticket #18). Download from www.cs.princeton.edu/~min/binvox/ instead.
v1.5.3: 2012-12-18
==================
- CMakeConfig now installs into share/octomap instead of lib/cmake/octomap for
better compatibility with ROS
- ROS package.xml removed, will be added in the release process
- added sensor model parameters to graph2tree
- new octree evaluation tool: eval_octree_accuracy and compare_octrees
v1.5.2: 2012-11-02
==================
- Fixed compilation with gcc 4.7 (Ubuntu Quantal)
v1.5.1: 2012-10-16
===================
- Fixed raycasting corner cases, expanded unit tests
- added double precision 3D coordinate conversions (ticket #13)
- Fixed compatibility with MSVC
v1.5.0: 2012-08-28
===================
- dynamicEDT3D, a library for dynamically updatable distance maps by C. Sprunk,
B. Lau, and W. Burgard is now available as part of the OctoMap distribution
- added AbstractOccupancyOcTree interface class, moved binary file IO
- delete functionality added to octrees and nodes
- octovis can now delete nodes inside or outside of a selection box
- operator== and copy constructor for octree nodes and octrees
- key / coordinate conversion functions are now clearly named and documented.
genPos/genKey deprecated in favor of coordToKey, keyToCoord
- added limited-depth search
- deep-copy constructor for octrees and nodes, assignment op. is private
- improved compatibility with MSVC (thx to J. Aguado)
- internal QGLViewer version increased to 2.3.17
- cleanup: functions removed /deprecated in favor or iterator-base node traversal
- cleanup: private members renamed (tree root / node children)
v1.4.3: 2012-10-07
==================
- Fixed raycasting corner cases, expanded unit tests
- iterator_base derives public for boost::filter
v1.4.2: 2012-04-24
===================
- extended graph2tree with more verbose logging / statistics
- fixed conversion from color .ot to .bt in convert_octree
- minor fixes in octovis with color rendering
- fixed octovis compilation with Qt 4.8 (Ubuntu 12.04)
- experimental editing functionality in octovis to clear and fill volumes
v1.4.1: 2012-03-12
===================
- added stack.yaml for release in ROS with catkin
v1.4: 2012-02-22
===================
- New generalized file IO for all kinds of OcTrees to .ot files. The updated
file format requires a conversion of your old bt and ot files with the
"convert_octree" tool. bt files are read and written as before.
To write the general .ot file format use tree.write(...) and read it with
AbstractOcTree::read(...) as factory (dynamic_cast to the correct class
afterwards).
- New ColorOcTree class to store color in addition to occupancy
(e.g. from Kinect), with visualization in octovis
- New map collections of octrees (hierarchical octree maps, experimental)
- Support for Linux, Mac OSX, and Windows
- enhancements and fixes in changeDetection
- minor fixes and unit tests added
v1.2: 2011-08-17
===================
- divided code into a library (octomap) and visualization part (octvis) to
remove dependencies on Qt / OpenGL from library. Both can be built
independently or as a complete package.
- iterators for fast and flexible tree access (check doxygen of OcTreeBase::
iterator) are the preferred way to traverse tree nodes now
- improved speed of map update / scan insertion. A further speedup is possible
when using the "lazy evaluation" flag for batch insertion
- unit tests based on CTest ("make test")
- CMake improvements: new targets "dist" (build package) and "uninstall",
dynamic and static libs are built. CMake package config to ease integration
into other CMake-based systems (install octomap globally, or set the
environment variable octomap_DIR to your OctoMap location
- occupancy and sensor parameters are now a property of the tree and not the
nodes. Use e.g. tree->isNodeOccupied(node) instead of node->isOccupied()
- cleanup of OcTree and OccupancyOcTree: the latter now holds most of the
implementation to ease deriving own tree and node types.
See OcTreeStamped for an example.
- debug output is now muted when not compiling as "Debug", ROS logging levels
are used when compiled in ROS
- experimental change detection in occupancy octrees
- bugfixes and general compatibility improvements
v1.0: 2011-03-15
===================
- cleanup of insertScan methods
- key-based raycasting with pre-allocated KeyRay
- speedup and cleanup of math, inlining
v0.8: 2010-11-16
===================
- improved speed of map update / scan insertion
- improved speed of map queries (isOccupied / castRay)
- key-based computations to improve numerical stability and efficiency
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| dynamic_edt_3d | |
| octovis |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged octomap at Robotics Stack Exchange
|
|
octomap package from octomap repodynamic_edt_3d octomap octovis |
Package Summary
| Tags | No category tags. |
| Version | 1.10.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/octomap/octomap.git |
| VCS Type | git |
| VCS Version | devel |
| Last Updated | 2025-04-20 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
http://octomap.github.io for details.
Additional Links
Maintainers
- Armin Hornung
- Wolfgang Merkt
Authors
- Kai M. Wurm
- Armin Hornung
Octomap - A probabilistic, flexible, and compact 3D mapping library for robotic systems
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. https://octomap.github.io
See the list of contributors for further authors.
License for octomap: New BSD License
REQUIREMENTS
- For only the octomap library: cmake and a regular build environment (gcc)
- For HTML documentation: doxygen (optional)
- For the viewer octovis: Qt4, OpenGL, QGLViewer (optional)
Skip to WINDOWS for tips on compilation under Windows. You can install all dependencies on Ubuntu by running:
sudo apt-get install cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
(Note: for older releases of Ubuntu you need to exchange the last package name with libqglviewer-qt4-dev)
INSTALLATION
See http://www.ros.org/wiki/octomap if you want to use OctoMap in ROS! There are pre-compiled packages for octomap, octovis, and ROS integration available.
Build the complete project by changing into the “build” directory and running cmake:
mkdir build && cd build
cmake ..
Type make to compile afterwards. This will create all CMake
files cleanly in the build folder (Out-of-source build).
Executables will end up in bin, libraries in lib.
A debug configuration can be created by running:
cmake -DCMAKE_BUILD_TYPE=Debug ..
in build or a different directory (e.g. build-debug).
You can install the library by running make install, though it
is usually not necessary. Be sure to adjust CMAKE_INSTALL_PREFIX before.
The target make test executes the unit tests for the octomap library,
if you are interested in verifying the functionality on your machine.
DOCUMENTATION
The documentation for the latest stable release is available online: https://octomap.github.io/octomap/doc/index.html
You can build the most current HTML-Documentation for your current
source with Doxygen by running make docs
in the build directory. The documentation will end up in
doc/html/index.html in the main directory.
GETTING STARTED
Jump right in and have a look at the example src/octomap/simple_example.cpp
Or start the 3D viewer with bin/octovis
You will find an example scan and binary tree to load in the directory share.
Further examples can be downloaded from the project website.
USE IN OTHER PROJECTS
A CMake-project config is generated for OctoMap which allows OctoMap to be used from other CMake-Projects easily.
Point CMake to your octomap installation so that it finds the file
octomap/lib/cmake/octomap/octomap-config.cmake, e.g. by setting the environment
variable octomap_DIRto the directory containing it.
Then add the following to your CMakeLists.txt:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
In addition to this cmake-module we also provide a pkgconfig-file.
For convenience, there is a minimal example project included in the file share/example-project.tgz
ECLIPSE PROJECT FILES
Eclipse project files can be generated (with some limitations, see: https://gitlab.kitware.com/cmake/community/-/wikis/doc/editors/Eclipse-CDT4-Generator) by running:
cmake -G"Eclipse CDT4 - Unix Makefiles" ..
Import the project (existing project, root is the build folder, do not copy contents) into Eclipse afterwards. For full Eclipse compatibility, it might be necessary to build in the main source directory.
WINDOWS
The octomap library and tools can be compiled and used under Windows although this has not been tested in-depth. Feedback is welcome.
To compile the library you need cmake (https://www.cmake.org) and either MinGW or Visual Studio.
MinGW
- Download the MinGW distribution (http://www.mingw.org)
- Install C++ compiler and add MingGW/bin to your system PATH
- Start the cmake-gui and set the code directory to the
library root (e.g.
/octomap) - Create and set the build directory to, e.g.,
/octomap/build. - Press “Configure” then “Generate”, select the appropriate generator, “MinGW Makefiles”.
-
Start a command shell and “make” the project:
octomap> cd build octomap/build> mingw32-make.exe
As verification, you can run the unit tests using ctest on the command prompt:
octomap/build> ctest.exe
Microsoft Visual Studio (2013 or later recommended)
Last tested with MSVC 2013 and 2015 (Community Edition).
- Start the cmake-gui and set the source code directory to the
library root (e.g.
\octomap) - Create a build directory and set it in CMake (“Where to build the
binaries”), e.g.
\octomap\build. - Press “Configure” then “Generate”, select the appropriate generator, e.g. “Visual Studio 2015”.
This generates a solution file
octomap.slnin the build directory. - Load this file and build the project
ALL_BUILDin Visual Studio.
Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
you can only build octomap by proceeding as described above but in the octomap
subdirectory. This can help you getting started when there are problems with
octovis and Qt4.
As verification, you can run the unit tests in Visual Studio by building the
RUN_TESTS project or by using ctest on the command prompt:
octomap/build> ctest.exe -C Release
CHANGELOG
v1.10.0: 2024-03-19
===================
- CMake: Fix duplicate uninstall target (#406)
- Fix errors with recent compilers and C++17/20 standard (#394)
- Fix ScanGraph.h c++20 compilation error (#398)
- Add smaller than operator for vectors (#330)
- Add vcpkg installation instructions to Readme (#382)
- Fix test dependencies in CMakeLists (#374)
- replace deprecated std::iterator by defining required types (#373)
- octovis: fix issue with saving not showing any dialog (#414)
- octovis: Fix deprecated QString and glext redefinition warning (#375)
- octovis: Declare missing dependency on opengl (#408)
- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
- ROS: Remove ccache for ROS-Industrial CI yml (#413)
- ROS: Remove EOL ROS distros from CI actions
v1.9.8: 2022-05-12
==================
- Also set lowercase octomap_* variables in CMake config (#369)
- Fix float tests and overflow problem in binvox2bt
- Fix to freespace update when bbx is set. (#360)
- Update Doxygen & URLs (#354,#352)
- make setBBXMin/Max parameters const (#348)
- ROS: Remove unused ament_cmake dependency.
- octovis: Implement volume selection features (#339)
- octovis: Link dependencies in octovis-static library (#340)
v1.9.7: 2021-05-03
==================
- Use explicit casting to prevent implicit sign conversion
- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
v1.9.6: 2021-01-23
==================
- Fixed ifstream >> byte with c++17
- strict warnings_as_errors compiler options and corresponding fixes
- octovis: Fixed qmake command to build libQGLViewer with Qt5.
- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
- octovis: use -fPIC with all compilers
v1.9.5: 2020-03-25
==================
- octovis: Update ROS dependencies to Qt5
v1.9.4: 2020-03-15
==================
- octovis: Enable Qt5 by default
- Support added for configurable libdir for packaging
- Increased minimum CMake version to 3.0.2
v1.9.3: 2019-12-26
==================
- Fixed Wpedantic warnings
- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
v1.9.2: 2019-11-28
==================
- Fixed ROS buildfarm failures for octovis
v1.9.1: 2019-11-23
==================
- Improved compatibility with modern compilers and ROS2
v1.9.0: 2017-04-28
==================
- Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)
- dynamicEDT3D templated over OctoMap type (thx to J.V. Gomez)
- Added optimized rendering option and command line option for tree cutoff
in octovis (thx to F. Endres)
- Added optional Qt5 support in octovis (thx to K. Stepanas)
- Improved the generation of config.cmake and version.cmake files, make them
relocatable via CONFIGURE_PACKAGE_CONFIG_FILE (thx to J.V. Gomez)
- Enable rpath on OS X when the CMake version supports it (thx to J. Snape)
- Added version information to *-config.cmake files and exported targets to
CMakeLists.txt (thx to J. Snape)
- Improved CMake build by specifically targeting local includes (thx to
C.-E. Hrabia)
v1.8.1: 2017-01-13
==================
- Disambiguated isnan (C++11)
- Fixed #123: Set root=NULL in clear()
- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
v1.8.0: 2016-04-20
==================
- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
enable safely deriving custom node classes. The following functions were
moved from OcTreeDataNode into OcTreeBaseImpl:
createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
expandNode() -> OcTreeBaseImpl::expandNode(...)
pruneNode() -> OcTreeBaseImpl::pruneNode(...)
hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)
If you use custom derived node classes, you need to adjust your code to the
new API (have a look at ColorOcTree.h as an example). In particular, you
should no longer use the above node member functions in your nodes.
- Extended unit tests for the new memory management
- Added valgrind memcheck suppression file with known ("wanted") leaks due to
StaticMemberInitializer.
- Replaced `unsigned short int` for key values with octomap::key_type
(=uint16_t) and unsigned char with uint8_t in API.
- Cleaned up OcTreeKey and KeyRay API (used internally)
- Reduced unneeded memory for StaticMemberInitializer
- Cleaned up const refs to primitive types in ColorOcTree interface
- Removed deprecated insertScan functions (replaced by insertPointCloud)
- Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
OcTreeBaseSE classes
- octovis: Internal version of libQGLViewer updated to 2.6.3
v1.7.2: 2016-03-26
==================
- BBX iterators fixed for empty trees (point3d version)
- Removed qglviewer.h from some public octovis headers
- Fixed QGLViewer library names for Ubuntu wily and xenial
- Fixed install path in CMakeConfigs
v1.7.1: 2016-01-31
==================
- Fixed #82: Enable uninstall target for complete project
- Fixed #47: Exported CMake library paths for Windows no longer
have the Release/Debug prefix and correctly contain the .lib file
- Fixed #51: IO factory class registry with MSVC. Calling a dummy
function from an OcTree class c'tor enables reading general .ot files
when compiling with MSVC
- Fixed #100: Explicit casts to avoid warnings with MSVC
v1.7.0: 2015-11-27
==================
- BBX iterators fixed for empty trees (thx to F. Boniardi)
- graph2tree tool option for nodes in global frame
- New octree2pointcloud PCL conversion tool (thx to F. Ferri)
- Improved change detection / diff calculation (thx to C. Brew)
- getUnknownLeafCenters now allows queries at a specified depth (thx to
A. Ecins)
- Fixed hashing overflow with clang (thx to L. Riano)
v1.6.9: 2016-01-13
==================
- Maintenance release for ROS:
Added function to determine state of change detection
v1.6.7: 2014-08-31
==================
- FSF address in octovis license header for OctoMap package in Fedora
- Separate build options for octovis and dynamicEDT3D. Thanks to C. Reist!
v1.6.6: 2014-05-26
==================
- Support for SOVERSION in the libraries for better packaging
- Warning for unknown space in castRay() removed (needs to be inferred by
calling code depending on return value and endpoint voxel)
- Marching cubes for ray surface intersection extended
- Fixed QGLViewer include paths
- ScanGraph read error no longer exits the process
v1.6.5: 2014-03-14
==================
- Fix octovis includes for QGLViewer > 2.5
v1.6.4: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.6.3: 2014-01-13
==================
- New function setNodeValue(...) to directly set a node's value (#31)
- New approximate point cloud insertion as fast variant (#39, see flag for
insertPointCloud(...) / new function computeDiscreteUpdate(...)
v1.6.2: 2013-11-26
==================
- Improved OSX 10.9 compatibility (thx to B. Jensen)
- Improved VC++ compatibility (thx to tmdiv)
- New fct. getRayIntersection to get real intersection of raycasting on
voxel (thanks to F-M. de Rainville)
- Fix #54: Quote paths in CMake configs to avoid problems with spaces
- Fix #53: Auto-pruning after updateNode
- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
- octovis now includes QGLViewer 2.4 (Qt5 support)
- octovis now looks for the octomap version of the same number
v1.6.1: 2013-06-19
==================
- New function swapContent to exchange the contents of two octrees (issue #32)
- New normal estimation based on marching cubes (thanks to F-M. de Rainville)
- Fixed octovis edit box affecting small selection ranges
- Fixed compilation with gcc 4.8 and OSX (issues #23 #28)
v1.6.0: 2013-04-05
==================
- Speedup: Pruning is now done only on affected nodes on each call to
updateNode(). You no longer have to call prune(), except when you manually
change nodes or use lazy_update.
- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
- Empty octrees no longer contain a root node (#11)
- Library names in CMake configs are now absolute paths, you should no longer
use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
- graph2tree: pointcloud is transformed in batch before insertion, small changes
in command line options
- octovis: more map editing options, fixed setting nodes to free/occupied (thx
to C. Dornhege)
- Sample data is now in octomap/share
v1.5.7: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.5.6: 2013-06-10
==================
- Fixed compilation with OSX 10.8 (issue #23)
v1.5.5: 2013-05-05
==================
- Fixed compilation of external code against OctoMap with gcc4.8 (issue #28)
v1.5.4: 2013-02-27
==================
- Removed binvox binaries from sources for improved packaging compatibility
(ticket #18). Download from www.cs.princeton.edu/~min/binvox/ instead.
v1.5.3: 2012-12-18
==================
- CMakeConfig now installs into share/octomap instead of lib/cmake/octomap for
better compatibility with ROS
- ROS package.xml removed, will be added in the release process
- added sensor model parameters to graph2tree
- new octree evaluation tool: eval_octree_accuracy and compare_octrees
v1.5.2: 2012-11-02
==================
- Fixed compilation with gcc 4.7 (Ubuntu Quantal)
v1.5.1: 2012-10-16
===================
- Fixed raycasting corner cases, expanded unit tests
- added double precision 3D coordinate conversions (ticket #13)
- Fixed compatibility with MSVC
v1.5.0: 2012-08-28
===================
- dynamicEDT3D, a library for dynamically updatable distance maps by C. Sprunk,
B. Lau, and W. Burgard is now available as part of the OctoMap distribution
- added AbstractOccupancyOcTree interface class, moved binary file IO
- delete functionality added to octrees and nodes
- octovis can now delete nodes inside or outside of a selection box
- operator== and copy constructor for octree nodes and octrees
- key / coordinate conversion functions are now clearly named and documented.
genPos/genKey deprecated in favor of coordToKey, keyToCoord
- added limited-depth search
- deep-copy constructor for octrees and nodes, assignment op. is private
- improved compatibility with MSVC (thx to J. Aguado)
- internal QGLViewer version increased to 2.3.17
- cleanup: functions removed /deprecated in favor or iterator-base node traversal
- cleanup: private members renamed (tree root / node children)
v1.4.3: 2012-10-07
==================
- Fixed raycasting corner cases, expanded unit tests
- iterator_base derives public for boost::filter
v1.4.2: 2012-04-24
===================
- extended graph2tree with more verbose logging / statistics
- fixed conversion from color .ot to .bt in convert_octree
- minor fixes in octovis with color rendering
- fixed octovis compilation with Qt 4.8 (Ubuntu 12.04)
- experimental editing functionality in octovis to clear and fill volumes
v1.4.1: 2012-03-12
===================
- added stack.yaml for release in ROS with catkin
v1.4: 2012-02-22
===================
- New generalized file IO for all kinds of OcTrees to .ot files. The updated
file format requires a conversion of your old bt and ot files with the
"convert_octree" tool. bt files are read and written as before.
To write the general .ot file format use tree.write(...) and read it with
AbstractOcTree::read(...) as factory (dynamic_cast to the correct class
afterwards).
- New ColorOcTree class to store color in addition to occupancy
(e.g. from Kinect), with visualization in octovis
- New map collections of octrees (hierarchical octree maps, experimental)
- Support for Linux, Mac OSX, and Windows
- enhancements and fixes in changeDetection
- minor fixes and unit tests added
v1.2: 2011-08-17
===================
- divided code into a library (octomap) and visualization part (octvis) to
remove dependencies on Qt / OpenGL from library. Both can be built
independently or as a complete package.
- iterators for fast and flexible tree access (check doxygen of OcTreeBase::
iterator) are the preferred way to traverse tree nodes now
- improved speed of map update / scan insertion. A further speedup is possible
when using the "lazy evaluation" flag for batch insertion
- unit tests based on CTest ("make test")
- CMake improvements: new targets "dist" (build package) and "uninstall",
dynamic and static libs are built. CMake package config to ease integration
into other CMake-based systems (install octomap globally, or set the
environment variable octomap_DIR to your OctoMap location
- occupancy and sensor parameters are now a property of the tree and not the
nodes. Use e.g. tree->isNodeOccupied(node) instead of node->isOccupied()
- cleanup of OcTree and OccupancyOcTree: the latter now holds most of the
implementation to ease deriving own tree and node types.
See OcTreeStamped for an example.
- debug output is now muted when not compiling as "Debug", ROS logging levels
are used when compiled in ROS
- experimental change detection in occupancy octrees
- bugfixes and general compatibility improvements
v1.0: 2011-03-15
===================
- cleanup of insertScan methods
- key-based raycasting with pre-allocated KeyRay
- speedup and cleanup of math, inlining
v0.8: 2010-11-16
===================
- improved speed of map update / scan insertion
- improved speed of map queries (isOccupied / castRay)
- key-based computations to improve numerical stability and efficiency
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| dynamic_edt_3d | |
| octovis |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged octomap at Robotics Stack Exchange
|
|
octomap package from octomap repodynamic_edt_3d octomap octovis |
Package Summary
| Tags | No category tags. |
| Version | 1.10.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/octomap/octomap.git |
| VCS Type | git |
| VCS Version | devel |
| Last Updated | 2025-04-20 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
http://octomap.github.io for details.
Additional Links
Maintainers
- Armin Hornung
- Wolfgang Merkt
Authors
- Kai M. Wurm
- Armin Hornung
Octomap - A probabilistic, flexible, and compact 3D mapping library for robotic systems
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. https://octomap.github.io
See the list of contributors for further authors.
License for octomap: New BSD License
REQUIREMENTS
- For only the octomap library: cmake and a regular build environment (gcc)
- For HTML documentation: doxygen (optional)
- For the viewer octovis: Qt4, OpenGL, QGLViewer (optional)
Skip to WINDOWS for tips on compilation under Windows. You can install all dependencies on Ubuntu by running:
sudo apt-get install cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
(Note: for older releases of Ubuntu you need to exchange the last package name with libqglviewer-qt4-dev)
INSTALLATION
See http://www.ros.org/wiki/octomap if you want to use OctoMap in ROS! There are pre-compiled packages for octomap, octovis, and ROS integration available.
Build the complete project by changing into the “build” directory and running cmake:
mkdir build && cd build
cmake ..
Type make to compile afterwards. This will create all CMake
files cleanly in the build folder (Out-of-source build).
Executables will end up in bin, libraries in lib.
A debug configuration can be created by running:
cmake -DCMAKE_BUILD_TYPE=Debug ..
in build or a different directory (e.g. build-debug).
You can install the library by running make install, though it
is usually not necessary. Be sure to adjust CMAKE_INSTALL_PREFIX before.
The target make test executes the unit tests for the octomap library,
if you are interested in verifying the functionality on your machine.
DOCUMENTATION
The documentation for the latest stable release is available online: https://octomap.github.io/octomap/doc/index.html
You can build the most current HTML-Documentation for your current
source with Doxygen by running make docs
in the build directory. The documentation will end up in
doc/html/index.html in the main directory.
GETTING STARTED
Jump right in and have a look at the example src/octomap/simple_example.cpp
Or start the 3D viewer with bin/octovis
You will find an example scan and binary tree to load in the directory share.
Further examples can be downloaded from the project website.
USE IN OTHER PROJECTS
A CMake-project config is generated for OctoMap which allows OctoMap to be used from other CMake-Projects easily.
Point CMake to your octomap installation so that it finds the file
octomap/lib/cmake/octomap/octomap-config.cmake, e.g. by setting the environment
variable octomap_DIRto the directory containing it.
Then add the following to your CMakeLists.txt:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
In addition to this cmake-module we also provide a pkgconfig-file.
For convenience, there is a minimal example project included in the file share/example-project.tgz
ECLIPSE PROJECT FILES
Eclipse project files can be generated (with some limitations, see: https://gitlab.kitware.com/cmake/community/-/wikis/doc/editors/Eclipse-CDT4-Generator) by running:
cmake -G"Eclipse CDT4 - Unix Makefiles" ..
Import the project (existing project, root is the build folder, do not copy contents) into Eclipse afterwards. For full Eclipse compatibility, it might be necessary to build in the main source directory.
WINDOWS
The octomap library and tools can be compiled and used under Windows although this has not been tested in-depth. Feedback is welcome.
To compile the library you need cmake (https://www.cmake.org) and either MinGW or Visual Studio.
MinGW
- Download the MinGW distribution (http://www.mingw.org)
- Install C++ compiler and add MingGW/bin to your system PATH
- Start the cmake-gui and set the code directory to the
library root (e.g.
/octomap) - Create and set the build directory to, e.g.,
/octomap/build. - Press “Configure” then “Generate”, select the appropriate generator, “MinGW Makefiles”.
-
Start a command shell and “make” the project:
octomap> cd build octomap/build> mingw32-make.exe
As verification, you can run the unit tests using ctest on the command prompt:
octomap/build> ctest.exe
Microsoft Visual Studio (2013 or later recommended)
Last tested with MSVC 2013 and 2015 (Community Edition).
- Start the cmake-gui and set the source code directory to the
library root (e.g.
\octomap) - Create a build directory and set it in CMake (“Where to build the
binaries”), e.g.
\octomap\build. - Press “Configure” then “Generate”, select the appropriate generator, e.g. “Visual Studio 2015”.
This generates a solution file
octomap.slnin the build directory. - Load this file and build the project
ALL_BUILDin Visual Studio.
Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
you can only build octomap by proceeding as described above but in the octomap
subdirectory. This can help you getting started when there are problems with
octovis and Qt4.
As verification, you can run the unit tests in Visual Studio by building the
RUN_TESTS project or by using ctest on the command prompt:
octomap/build> ctest.exe -C Release
CHANGELOG
v1.10.0: 2024-03-19
===================
- CMake: Fix duplicate uninstall target (#406)
- Fix errors with recent compilers and C++17/20 standard (#394)
- Fix ScanGraph.h c++20 compilation error (#398)
- Add smaller than operator for vectors (#330)
- Add vcpkg installation instructions to Readme (#382)
- Fix test dependencies in CMakeLists (#374)
- replace deprecated std::iterator by defining required types (#373)
- octovis: fix issue with saving not showing any dialog (#414)
- octovis: Fix deprecated QString and glext redefinition warning (#375)
- octovis: Declare missing dependency on opengl (#408)
- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
- ROS: Remove ccache for ROS-Industrial CI yml (#413)
- ROS: Remove EOL ROS distros from CI actions
v1.9.8: 2022-05-12
==================
- Also set lowercase octomap_* variables in CMake config (#369)
- Fix float tests and overflow problem in binvox2bt
- Fix to freespace update when bbx is set. (#360)
- Update Doxygen & URLs (#354,#352)
- make setBBXMin/Max parameters const (#348)
- ROS: Remove unused ament_cmake dependency.
- octovis: Implement volume selection features (#339)
- octovis: Link dependencies in octovis-static library (#340)
v1.9.7: 2021-05-03
==================
- Use explicit casting to prevent implicit sign conversion
- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
v1.9.6: 2021-01-23
==================
- Fixed ifstream >> byte with c++17
- strict warnings_as_errors compiler options and corresponding fixes
- octovis: Fixed qmake command to build libQGLViewer with Qt5.
- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
- octovis: use -fPIC with all compilers
v1.9.5: 2020-03-25
==================
- octovis: Update ROS dependencies to Qt5
v1.9.4: 2020-03-15
==================
- octovis: Enable Qt5 by default
- Support added for configurable libdir for packaging
- Increased minimum CMake version to 3.0.2
v1.9.3: 2019-12-26
==================
- Fixed Wpedantic warnings
- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
v1.9.2: 2019-11-28
==================
- Fixed ROS buildfarm failures for octovis
v1.9.1: 2019-11-23
==================
- Improved compatibility with modern compilers and ROS2
v1.9.0: 2017-04-28
==================
- Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)
- dynamicEDT3D templated over OctoMap type (thx to J.V. Gomez)
- Added optimized rendering option and command line option for tree cutoff
in octovis (thx to F. Endres)
- Added optional Qt5 support in octovis (thx to K. Stepanas)
- Improved the generation of config.cmake and version.cmake files, make them
relocatable via CONFIGURE_PACKAGE_CONFIG_FILE (thx to J.V. Gomez)
- Enable rpath on OS X when the CMake version supports it (thx to J. Snape)
- Added version information to *-config.cmake files and exported targets to
CMakeLists.txt (thx to J. Snape)
- Improved CMake build by specifically targeting local includes (thx to
C.-E. Hrabia)
v1.8.1: 2017-01-13
==================
- Disambiguated isnan (C++11)
- Fixed #123: Set root=NULL in clear()
- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
v1.8.0: 2016-04-20
==================
- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
enable safely deriving custom node classes. The following functions were
moved from OcTreeDataNode into OcTreeBaseImpl:
createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
expandNode() -> OcTreeBaseImpl::expandNode(...)
pruneNode() -> OcTreeBaseImpl::pruneNode(...)
hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)
If you use custom derived node classes, you need to adjust your code to the
new API (have a look at ColorOcTree.h as an example). In particular, you
should no longer use the above node member functions in your nodes.
- Extended unit tests for the new memory management
- Added valgrind memcheck suppression file with known ("wanted") leaks due to
StaticMemberInitializer.
- Replaced `unsigned short int` for key values with octomap::key_type
(=uint16_t) and unsigned char with uint8_t in API.
- Cleaned up OcTreeKey and KeyRay API (used internally)
- Reduced unneeded memory for StaticMemberInitializer
- Cleaned up const refs to primitive types in ColorOcTree interface
- Removed deprecated insertScan functions (replaced by insertPointCloud)
- Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
OcTreeBaseSE classes
- octovis: Internal version of libQGLViewer updated to 2.6.3
v1.7.2: 2016-03-26
==================
- BBX iterators fixed for empty trees (point3d version)
- Removed qglviewer.h from some public octovis headers
- Fixed QGLViewer library names for Ubuntu wily and xenial
- Fixed install path in CMakeConfigs
v1.7.1: 2016-01-31
==================
- Fixed #82: Enable uninstall target for complete project
- Fixed #47: Exported CMake library paths for Windows no longer
have the Release/Debug prefix and correctly contain the .lib file
- Fixed #51: IO factory class registry with MSVC. Calling a dummy
function from an OcTree class c'tor enables reading general .ot files
when compiling with MSVC
- Fixed #100: Explicit casts to avoid warnings with MSVC
v1.7.0: 2015-11-27
==================
- BBX iterators fixed for empty trees (thx to F. Boniardi)
- graph2tree tool option for nodes in global frame
- New octree2pointcloud PCL conversion tool (thx to F. Ferri)
- Improved change detection / diff calculation (thx to C. Brew)
- getUnknownLeafCenters now allows queries at a specified depth (thx to
A. Ecins)
- Fixed hashing overflow with clang (thx to L. Riano)
v1.6.9: 2016-01-13
==================
- Maintenance release for ROS:
Added function to determine state of change detection
v1.6.7: 2014-08-31
==================
- FSF address in octovis license header for OctoMap package in Fedora
- Separate build options for octovis and dynamicEDT3D. Thanks to C. Reist!
v1.6.6: 2014-05-26
==================
- Support for SOVERSION in the libraries for better packaging
- Warning for unknown space in castRay() removed (needs to be inferred by
calling code depending on return value and endpoint voxel)
- Marching cubes for ray surface intersection extended
- Fixed QGLViewer include paths
- ScanGraph read error no longer exits the process
v1.6.5: 2014-03-14
==================
- Fix octovis includes for QGLViewer > 2.5
v1.6.4: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.6.3: 2014-01-13
==================
- New function setNodeValue(...) to directly set a node's value (#31)
- New approximate point cloud insertion as fast variant (#39, see flag for
insertPointCloud(...) / new function computeDiscreteUpdate(...)
v1.6.2: 2013-11-26
==================
- Improved OSX 10.9 compatibility (thx to B. Jensen)
- Improved VC++ compatibility (thx to tmdiv)
- New fct. getRayIntersection to get real intersection of raycasting on
voxel (thanks to F-M. de Rainville)
- Fix #54: Quote paths in CMake configs to avoid problems with spaces
- Fix #53: Auto-pruning after updateNode
- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
- octovis now includes QGLViewer 2.4 (Qt5 support)
- octovis now looks for the octomap version of the same number
v1.6.1: 2013-06-19
==================
- New function swapContent to exchange the contents of two octrees (issue #32)
- New normal estimation based on marching cubes (thanks to F-M. de Rainville)
- Fixed octovis edit box affecting small selection ranges
- Fixed compilation with gcc 4.8 and OSX (issues #23 #28)
v1.6.0: 2013-04-05
==================
- Speedup: Pruning is now done only on affected nodes on each call to
updateNode(). You no longer have to call prune(), except when you manually
change nodes or use lazy_update.
- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
- Empty octrees no longer contain a root node (#11)
- Library names in CMake configs are now absolute paths, you should no longer
use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
- graph2tree: pointcloud is transformed in batch before insertion, small changes
in command line options
- octovis: more map editing options, fixed setting nodes to free/occupied (thx
to C. Dornhege)
- Sample data is now in octomap/share
v1.5.7: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.5.6: 2013-06-10
==================
- Fixed compilation with OSX 10.8 (issue #23)
v1.5.5: 2013-05-05
==================
- Fixed compilation of external code against OctoMap with gcc4.8 (issue #28)
v1.5.4: 2013-02-27
==================
- Removed binvox binaries from sources for improved packaging compatibility
(ticket #18). Download from www.cs.princeton.edu/~min/binvox/ instead.
v1.5.3: 2012-12-18
==================
- CMakeConfig now installs into share/octomap instead of lib/cmake/octomap for
better compatibility with ROS
- ROS package.xml removed, will be added in the release process
- added sensor model parameters to graph2tree
- new octree evaluation tool: eval_octree_accuracy and compare_octrees
v1.5.2: 2012-11-02
==================
- Fixed compilation with gcc 4.7 (Ubuntu Quantal)
v1.5.1: 2012-10-16
===================
- Fixed raycasting corner cases, expanded unit tests
- added double precision 3D coordinate conversions (ticket #13)
- Fixed compatibility with MSVC
v1.5.0: 2012-08-28
===================
- dynamicEDT3D, a library for dynamically updatable distance maps by C. Sprunk,
B. Lau, and W. Burgard is now available as part of the OctoMap distribution
- added AbstractOccupancyOcTree interface class, moved binary file IO
- delete functionality added to octrees and nodes
- octovis can now delete nodes inside or outside of a selection box
- operator== and copy constructor for octree nodes and octrees
- key / coordinate conversion functions are now clearly named and documented.
genPos/genKey deprecated in favor of coordToKey, keyToCoord
- added limited-depth search
- deep-copy constructor for octrees and nodes, assignment op. is private
- improved compatibility with MSVC (thx to J. Aguado)
- internal QGLViewer version increased to 2.3.17
- cleanup: functions removed /deprecated in favor or iterator-base node traversal
- cleanup: private members renamed (tree root / node children)
v1.4.3: 2012-10-07
==================
- Fixed raycasting corner cases, expanded unit tests
- iterator_base derives public for boost::filter
v1.4.2: 2012-04-24
===================
- extended graph2tree with more verbose logging / statistics
- fixed conversion from color .ot to .bt in convert_octree
- minor fixes in octovis with color rendering
- fixed octovis compilation with Qt 4.8 (Ubuntu 12.04)
- experimental editing functionality in octovis to clear and fill volumes
v1.4.1: 2012-03-12
===================
- added stack.yaml for release in ROS with catkin
v1.4: 2012-02-22
===================
- New generalized file IO for all kinds of OcTrees to .ot files. The updated
file format requires a conversion of your old bt and ot files with the
"convert_octree" tool. bt files are read and written as before.
To write the general .ot file format use tree.write(...) and read it with
AbstractOcTree::read(...) as factory (dynamic_cast to the correct class
afterwards).
- New ColorOcTree class to store color in addition to occupancy
(e.g. from Kinect), with visualization in octovis
- New map collections of octrees (hierarchical octree maps, experimental)
- Support for Linux, Mac OSX, and Windows
- enhancements and fixes in changeDetection
- minor fixes and unit tests added
v1.2: 2011-08-17
===================
- divided code into a library (octomap) and visualization part (octvis) to
remove dependencies on Qt / OpenGL from library. Both can be built
independently or as a complete package.
- iterators for fast and flexible tree access (check doxygen of OcTreeBase::
iterator) are the preferred way to traverse tree nodes now
- improved speed of map update / scan insertion. A further speedup is possible
when using the "lazy evaluation" flag for batch insertion
- unit tests based on CTest ("make test")
- CMake improvements: new targets "dist" (build package) and "uninstall",
dynamic and static libs are built. CMake package config to ease integration
into other CMake-based systems (install octomap globally, or set the
environment variable octomap_DIR to your OctoMap location
- occupancy and sensor parameters are now a property of the tree and not the
nodes. Use e.g. tree->isNodeOccupied(node) instead of node->isOccupied()
- cleanup of OcTree and OccupancyOcTree: the latter now holds most of the
implementation to ease deriving own tree and node types.
See OcTreeStamped for an example.
- debug output is now muted when not compiling as "Debug", ROS logging levels
are used when compiled in ROS
- experimental change detection in occupancy octrees
- bugfixes and general compatibility improvements
v1.0: 2011-03-15
===================
- cleanup of insertScan methods
- key-based raycasting with pre-allocated KeyRay
- speedup and cleanup of math, inlining
v0.8: 2010-11-16
===================
- improved speed of map update / scan insertion
- improved speed of map queries (isOccupied / castRay)
- key-based computations to improve numerical stability and efficiency
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| dynamic_edt_3d | |
| octovis | |
| rtabmap | |
| rtabmap_ros |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged octomap at Robotics Stack Exchange
|
|
octomap package from octomap repodynamic_edt_3d octomap octovis |
Package Summary
| Tags | No category tags. |
| Version | 1.10.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/octomap/octomap.git |
| VCS Type | git |
| VCS Version | devel |
| Last Updated | 2025-04-20 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
http://octomap.github.io for details.
Additional Links
Maintainers
- Armin Hornung
- Wolfgang Merkt
Authors
- Kai M. Wurm
- Armin Hornung
Octomap - A probabilistic, flexible, and compact 3D mapping library for robotic systems
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. https://octomap.github.io
See the list of contributors for further authors.
License for octomap: New BSD License
REQUIREMENTS
- For only the octomap library: cmake and a regular build environment (gcc)
- For HTML documentation: doxygen (optional)
- For the viewer octovis: Qt4, OpenGL, QGLViewer (optional)
Skip to WINDOWS for tips on compilation under Windows. You can install all dependencies on Ubuntu by running:
sudo apt-get install cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
(Note: for older releases of Ubuntu you need to exchange the last package name with libqglviewer-qt4-dev)
INSTALLATION
See http://www.ros.org/wiki/octomap if you want to use OctoMap in ROS! There are pre-compiled packages for octomap, octovis, and ROS integration available.
Build the complete project by changing into the “build” directory and running cmake:
mkdir build && cd build
cmake ..
Type make to compile afterwards. This will create all CMake
files cleanly in the build folder (Out-of-source build).
Executables will end up in bin, libraries in lib.
A debug configuration can be created by running:
cmake -DCMAKE_BUILD_TYPE=Debug ..
in build or a different directory (e.g. build-debug).
You can install the library by running make install, though it
is usually not necessary. Be sure to adjust CMAKE_INSTALL_PREFIX before.
The target make test executes the unit tests for the octomap library,
if you are interested in verifying the functionality on your machine.
DOCUMENTATION
The documentation for the latest stable release is available online: https://octomap.github.io/octomap/doc/index.html
You can build the most current HTML-Documentation for your current
source with Doxygen by running make docs
in the build directory. The documentation will end up in
doc/html/index.html in the main directory.
GETTING STARTED
Jump right in and have a look at the example src/octomap/simple_example.cpp
Or start the 3D viewer with bin/octovis
You will find an example scan and binary tree to load in the directory share.
Further examples can be downloaded from the project website.
USE IN OTHER PROJECTS
A CMake-project config is generated for OctoMap which allows OctoMap to be used from other CMake-Projects easily.
Point CMake to your octomap installation so that it finds the file
octomap/lib/cmake/octomap/octomap-config.cmake, e.g. by setting the environment
variable octomap_DIRto the directory containing it.
Then add the following to your CMakeLists.txt:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
In addition to this cmake-module we also provide a pkgconfig-file.
For convenience, there is a minimal example project included in the file share/example-project.tgz
ECLIPSE PROJECT FILES
Eclipse project files can be generated (with some limitations, see: https://gitlab.kitware.com/cmake/community/-/wikis/doc/editors/Eclipse-CDT4-Generator) by running:
cmake -G"Eclipse CDT4 - Unix Makefiles" ..
Import the project (existing project, root is the build folder, do not copy contents) into Eclipse afterwards. For full Eclipse compatibility, it might be necessary to build in the main source directory.
WINDOWS
The octomap library and tools can be compiled and used under Windows although this has not been tested in-depth. Feedback is welcome.
To compile the library you need cmake (https://www.cmake.org) and either MinGW or Visual Studio.
MinGW
- Download the MinGW distribution (http://www.mingw.org)
- Install C++ compiler and add MingGW/bin to your system PATH
- Start the cmake-gui and set the code directory to the
library root (e.g.
/octomap) - Create and set the build directory to, e.g.,
/octomap/build. - Press “Configure” then “Generate”, select the appropriate generator, “MinGW Makefiles”.
-
Start a command shell and “make” the project:
octomap> cd build octomap/build> mingw32-make.exe
As verification, you can run the unit tests using ctest on the command prompt:
octomap/build> ctest.exe
Microsoft Visual Studio (2013 or later recommended)
Last tested with MSVC 2013 and 2015 (Community Edition).
- Start the cmake-gui and set the source code directory to the
library root (e.g.
\octomap) - Create a build directory and set it in CMake (“Where to build the
binaries”), e.g.
\octomap\build. - Press “Configure” then “Generate”, select the appropriate generator, e.g. “Visual Studio 2015”.
This generates a solution file
octomap.slnin the build directory. - Load this file and build the project
ALL_BUILDin Visual Studio.
Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
you can only build octomap by proceeding as described above but in the octomap
subdirectory. This can help you getting started when there are problems with
octovis and Qt4.
As verification, you can run the unit tests in Visual Studio by building the
RUN_TESTS project or by using ctest on the command prompt:
octomap/build> ctest.exe -C Release
CHANGELOG
v1.10.0: 2024-03-19
===================
- CMake: Fix duplicate uninstall target (#406)
- Fix errors with recent compilers and C++17/20 standard (#394)
- Fix ScanGraph.h c++20 compilation error (#398)
- Add smaller than operator for vectors (#330)
- Add vcpkg installation instructions to Readme (#382)
- Fix test dependencies in CMakeLists (#374)
- replace deprecated std::iterator by defining required types (#373)
- octovis: fix issue with saving not showing any dialog (#414)
- octovis: Fix deprecated QString and glext redefinition warning (#375)
- octovis: Declare missing dependency on opengl (#408)
- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
- ROS: Remove ccache for ROS-Industrial CI yml (#413)
- ROS: Remove EOL ROS distros from CI actions
v1.9.8: 2022-05-12
==================
- Also set lowercase octomap_* variables in CMake config (#369)
- Fix float tests and overflow problem in binvox2bt
- Fix to freespace update when bbx is set. (#360)
- Update Doxygen & URLs (#354,#352)
- make setBBXMin/Max parameters const (#348)
- ROS: Remove unused ament_cmake dependency.
- octovis: Implement volume selection features (#339)
- octovis: Link dependencies in octovis-static library (#340)
v1.9.7: 2021-05-03
==================
- Use explicit casting to prevent implicit sign conversion
- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
v1.9.6: 2021-01-23
==================
- Fixed ifstream >> byte with c++17
- strict warnings_as_errors compiler options and corresponding fixes
- octovis: Fixed qmake command to build libQGLViewer with Qt5.
- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
- octovis: use -fPIC with all compilers
v1.9.5: 2020-03-25
==================
- octovis: Update ROS dependencies to Qt5
v1.9.4: 2020-03-15
==================
- octovis: Enable Qt5 by default
- Support added for configurable libdir for packaging
- Increased minimum CMake version to 3.0.2
v1.9.3: 2019-12-26
==================
- Fixed Wpedantic warnings
- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
v1.9.2: 2019-11-28
==================
- Fixed ROS buildfarm failures for octovis
v1.9.1: 2019-11-23
==================
- Improved compatibility with modern compilers and ROS2
v1.9.0: 2017-04-28
==================
- Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)
- dynamicEDT3D templated over OctoMap type (thx to J.V. Gomez)
- Added optimized rendering option and command line option for tree cutoff
in octovis (thx to F. Endres)
- Added optional Qt5 support in octovis (thx to K. Stepanas)
- Improved the generation of config.cmake and version.cmake files, make them
relocatable via CONFIGURE_PACKAGE_CONFIG_FILE (thx to J.V. Gomez)
- Enable rpath on OS X when the CMake version supports it (thx to J. Snape)
- Added version information to *-config.cmake files and exported targets to
CMakeLists.txt (thx to J. Snape)
- Improved CMake build by specifically targeting local includes (thx to
C.-E. Hrabia)
v1.8.1: 2017-01-13
==================
- Disambiguated isnan (C++11)
- Fixed #123: Set root=NULL in clear()
- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
v1.8.0: 2016-04-20
==================
- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
enable safely deriving custom node classes. The following functions were
moved from OcTreeDataNode into OcTreeBaseImpl:
createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
expandNode() -> OcTreeBaseImpl::expandNode(...)
pruneNode() -> OcTreeBaseImpl::pruneNode(...)
hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)
If you use custom derived node classes, you need to adjust your code to the
new API (have a look at ColorOcTree.h as an example). In particular, you
should no longer use the above node member functions in your nodes.
- Extended unit tests for the new memory management
- Added valgrind memcheck suppression file with known ("wanted") leaks due to
StaticMemberInitializer.
- Replaced `unsigned short int` for key values with octomap::key_type
(=uint16_t) and unsigned char with uint8_t in API.
- Cleaned up OcTreeKey and KeyRay API (used internally)
- Reduced unneeded memory for StaticMemberInitializer
- Cleaned up const refs to primitive types in ColorOcTree interface
- Removed deprecated insertScan functions (replaced by insertPointCloud)
- Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
OcTreeBaseSE classes
- octovis: Internal version of libQGLViewer updated to 2.6.3
v1.7.2: 2016-03-26
==================
- BBX iterators fixed for empty trees (point3d version)
- Removed qglviewer.h from some public octovis headers
- Fixed QGLViewer library names for Ubuntu wily and xenial
- Fixed install path in CMakeConfigs
v1.7.1: 2016-01-31
==================
- Fixed #82: Enable uninstall target for complete project
- Fixed #47: Exported CMake library paths for Windows no longer
have the Release/Debug prefix and correctly contain the .lib file
- Fixed #51: IO factory class registry with MSVC. Calling a dummy
function from an OcTree class c'tor enables reading general .ot files
when compiling with MSVC
- Fixed #100: Explicit casts to avoid warnings with MSVC
v1.7.0: 2015-11-27
==================
- BBX iterators fixed for empty trees (thx to F. Boniardi)
- graph2tree tool option for nodes in global frame
- New octree2pointcloud PCL conversion tool (thx to F. Ferri)
- Improved change detection / diff calculation (thx to C. Brew)
- getUnknownLeafCenters now allows queries at a specified depth (thx to
A. Ecins)
- Fixed hashing overflow with clang (thx to L. Riano)
v1.6.9: 2016-01-13
==================
- Maintenance release for ROS:
Added function to determine state of change detection
v1.6.7: 2014-08-31
==================
- FSF address in octovis license header for OctoMap package in Fedora
- Separate build options for octovis and dynamicEDT3D. Thanks to C. Reist!
v1.6.6: 2014-05-26
==================
- Support for SOVERSION in the libraries for better packaging
- Warning for unknown space in castRay() removed (needs to be inferred by
calling code depending on return value and endpoint voxel)
- Marching cubes for ray surface intersection extended
- Fixed QGLViewer include paths
- ScanGraph read error no longer exits the process
v1.6.5: 2014-03-14
==================
- Fix octovis includes for QGLViewer > 2.5
v1.6.4: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.6.3: 2014-01-13
==================
- New function setNodeValue(...) to directly set a node's value (#31)
- New approximate point cloud insertion as fast variant (#39, see flag for
insertPointCloud(...) / new function computeDiscreteUpdate(...)
v1.6.2: 2013-11-26
==================
- Improved OSX 10.9 compatibility (thx to B. Jensen)
- Improved VC++ compatibility (thx to tmdiv)
- New fct. getRayIntersection to get real intersection of raycasting on
voxel (thanks to F-M. de Rainville)
- Fix #54: Quote paths in CMake configs to avoid problems with spaces
- Fix #53: Auto-pruning after updateNode
- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
- octovis now includes QGLViewer 2.4 (Qt5 support)
- octovis now looks for the octomap version of the same number
v1.6.1: 2013-06-19
==================
- New function swapContent to exchange the contents of two octrees (issue #32)
- New normal estimation based on marching cubes (thanks to F-M. de Rainville)
- Fixed octovis edit box affecting small selection ranges
- Fixed compilation with gcc 4.8 and OSX (issues #23 #28)
v1.6.0: 2013-04-05
==================
- Speedup: Pruning is now done only on affected nodes on each call to
updateNode(). You no longer have to call prune(), except when you manually
change nodes or use lazy_update.
- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
- Empty octrees no longer contain a root node (#11)
- Library names in CMake configs are now absolute paths, you should no longer
use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
- graph2tree: pointcloud is transformed in batch before insertion, small changes
in command line options
- octovis: more map editing options, fixed setting nodes to free/occupied (thx
to C. Dornhege)
- Sample data is now in octomap/share
v1.5.7: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.5.6: 2013-06-10
==================
- Fixed compilation with OSX 10.8 (issue #23)
v1.5.5: 2013-05-05
==================
- Fixed compilation of external code against OctoMap with gcc4.8 (issue #28)
v1.5.4: 2013-02-27
==================
- Removed binvox binaries from sources for improved packaging compatibility
(ticket #18). Download from www.cs.princeton.edu/~min/binvox/ instead.
v1.5.3: 2012-12-18
==================
- CMakeConfig now installs into share/octomap instead of lib/cmake/octomap for
better compatibility with ROS
- ROS package.xml removed, will be added in the release process
- added sensor model parameters to graph2tree
- new octree evaluation tool: eval_octree_accuracy and compare_octrees
v1.5.2: 2012-11-02
==================
- Fixed compilation with gcc 4.7 (Ubuntu Quantal)
v1.5.1: 2012-10-16
===================
- Fixed raycasting corner cases, expanded unit tests
- added double precision 3D coordinate conversions (ticket #13)
- Fixed compatibility with MSVC
v1.5.0: 2012-08-28
===================
- dynamicEDT3D, a library for dynamically updatable distance maps by C. Sprunk,
B. Lau, and W. Burgard is now available as part of the OctoMap distribution
- added AbstractOccupancyOcTree interface class, moved binary file IO
- delete functionality added to octrees and nodes
- octovis can now delete nodes inside or outside of a selection box
- operator== and copy constructor for octree nodes and octrees
- key / coordinate conversion functions are now clearly named and documented.
genPos/genKey deprecated in favor of coordToKey, keyToCoord
- added limited-depth search
- deep-copy constructor for octrees and nodes, assignment op. is private
- improved compatibility with MSVC (thx to J. Aguado)
- internal QGLViewer version increased to 2.3.17
- cleanup: functions removed /deprecated in favor or iterator-base node traversal
- cleanup: private members renamed (tree root / node children)
v1.4.3: 2012-10-07
==================
- Fixed raycasting corner cases, expanded unit tests
- iterator_base derives public for boost::filter
v1.4.2: 2012-04-24
===================
- extended graph2tree with more verbose logging / statistics
- fixed conversion from color .ot to .bt in convert_octree
- minor fixes in octovis with color rendering
- fixed octovis compilation with Qt 4.8 (Ubuntu 12.04)
- experimental editing functionality in octovis to clear and fill volumes
v1.4.1: 2012-03-12
===================
- added stack.yaml for release in ROS with catkin
v1.4: 2012-02-22
===================
- New generalized file IO for all kinds of OcTrees to .ot files. The updated
file format requires a conversion of your old bt and ot files with the
"convert_octree" tool. bt files are read and written as before.
To write the general .ot file format use tree.write(...) and read it with
AbstractOcTree::read(...) as factory (dynamic_cast to the correct class
afterwards).
- New ColorOcTree class to store color in addition to occupancy
(e.g. from Kinect), with visualization in octovis
- New map collections of octrees (hierarchical octree maps, experimental)
- Support for Linux, Mac OSX, and Windows
- enhancements and fixes in changeDetection
- minor fixes and unit tests added
v1.2: 2011-08-17
===================
- divided code into a library (octomap) and visualization part (octvis) to
remove dependencies on Qt / OpenGL from library. Both can be built
independently or as a complete package.
- iterators for fast and flexible tree access (check doxygen of OcTreeBase::
iterator) are the preferred way to traverse tree nodes now
- improved speed of map update / scan insertion. A further speedup is possible
when using the "lazy evaluation" flag for batch insertion
- unit tests based on CTest ("make test")
- CMake improvements: new targets "dist" (build package) and "uninstall",
dynamic and static libs are built. CMake package config to ease integration
into other CMake-based systems (install octomap globally, or set the
environment variable octomap_DIR to your OctoMap location
- occupancy and sensor parameters are now a property of the tree and not the
nodes. Use e.g. tree->isNodeOccupied(node) instead of node->isOccupied()
- cleanup of OcTree and OccupancyOcTree: the latter now holds most of the
implementation to ease deriving own tree and node types.
See OcTreeStamped for an example.
- debug output is now muted when not compiling as "Debug", ROS logging levels
are used when compiled in ROS
- experimental change detection in occupancy octrees
- bugfixes and general compatibility improvements
v1.0: 2011-03-15
===================
- cleanup of insertScan methods
- key-based raycasting with pre-allocated KeyRay
- speedup and cleanup of math, inlining
v0.8: 2010-11-16
===================
- improved speed of map update / scan insertion
- improved speed of map queries (isOccupied / castRay)
- key-based computations to improve numerical stability and efficiency
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| dynamic_edt_3d | |
| octovis | |
| rtabmap |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged octomap at Robotics Stack Exchange
|
|
octomap package from octomap repodynamic_edt_3d octomap octovis |
Package Summary
| Tags | No category tags. |
| Version | 1.10.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/octomap/octomap.git |
| VCS Type | git |
| VCS Version | devel |
| Last Updated | 2025-04-20 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
http://octomap.github.io for details.
Additional Links
Maintainers
- Armin Hornung
- Wolfgang Merkt
Authors
- Kai M. Wurm
- Armin Hornung
Octomap - A probabilistic, flexible, and compact 3D mapping library for robotic systems
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. https://octomap.github.io
See the list of contributors for further authors.
License for octomap: New BSD License
REQUIREMENTS
- For only the octomap library: cmake and a regular build environment (gcc)
- For HTML documentation: doxygen (optional)
- For the viewer octovis: Qt4, OpenGL, QGLViewer (optional)
Skip to WINDOWS for tips on compilation under Windows. You can install all dependencies on Ubuntu by running:
sudo apt-get install cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
(Note: for older releases of Ubuntu you need to exchange the last package name with libqglviewer-qt4-dev)
INSTALLATION
See http://www.ros.org/wiki/octomap if you want to use OctoMap in ROS! There are pre-compiled packages for octomap, octovis, and ROS integration available.
Build the complete project by changing into the “build” directory and running cmake:
mkdir build && cd build
cmake ..
Type make to compile afterwards. This will create all CMake
files cleanly in the build folder (Out-of-source build).
Executables will end up in bin, libraries in lib.
A debug configuration can be created by running:
cmake -DCMAKE_BUILD_TYPE=Debug ..
in build or a different directory (e.g. build-debug).
You can install the library by running make install, though it
is usually not necessary. Be sure to adjust CMAKE_INSTALL_PREFIX before.
The target make test executes the unit tests for the octomap library,
if you are interested in verifying the functionality on your machine.
DOCUMENTATION
The documentation for the latest stable release is available online: https://octomap.github.io/octomap/doc/index.html
You can build the most current HTML-Documentation for your current
source with Doxygen by running make docs
in the build directory. The documentation will end up in
doc/html/index.html in the main directory.
GETTING STARTED
Jump right in and have a look at the example src/octomap/simple_example.cpp
Or start the 3D viewer with bin/octovis
You will find an example scan and binary tree to load in the directory share.
Further examples can be downloaded from the project website.
USE IN OTHER PROJECTS
A CMake-project config is generated for OctoMap which allows OctoMap to be used from other CMake-Projects easily.
Point CMake to your octomap installation so that it finds the file
octomap/lib/cmake/octomap/octomap-config.cmake, e.g. by setting the environment
variable octomap_DIRto the directory containing it.
Then add the following to your CMakeLists.txt:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
In addition to this cmake-module we also provide a pkgconfig-file.
For convenience, there is a minimal example project included in the file share/example-project.tgz
ECLIPSE PROJECT FILES
Eclipse project files can be generated (with some limitations, see: https://gitlab.kitware.com/cmake/community/-/wikis/doc/editors/Eclipse-CDT4-Generator) by running:
cmake -G"Eclipse CDT4 - Unix Makefiles" ..
Import the project (existing project, root is the build folder, do not copy contents) into Eclipse afterwards. For full Eclipse compatibility, it might be necessary to build in the main source directory.
WINDOWS
The octomap library and tools can be compiled and used under Windows although this has not been tested in-depth. Feedback is welcome.
To compile the library you need cmake (https://www.cmake.org) and either MinGW or Visual Studio.
MinGW
- Download the MinGW distribution (http://www.mingw.org)
- Install C++ compiler and add MingGW/bin to your system PATH
- Start the cmake-gui and set the code directory to the
library root (e.g.
/octomap) - Create and set the build directory to, e.g.,
/octomap/build. - Press “Configure” then “Generate”, select the appropriate generator, “MinGW Makefiles”.
-
Start a command shell and “make” the project:
octomap> cd build octomap/build> mingw32-make.exe
As verification, you can run the unit tests using ctest on the command prompt:
octomap/build> ctest.exe
Microsoft Visual Studio (2013 or later recommended)
Last tested with MSVC 2013 and 2015 (Community Edition).
- Start the cmake-gui and set the source code directory to the
library root (e.g.
\octomap) - Create a build directory and set it in CMake (“Where to build the
binaries”), e.g.
\octomap\build. - Press “Configure” then “Generate”, select the appropriate generator, e.g. “Visual Studio 2015”.
This generates a solution file
octomap.slnin the build directory. - Load this file and build the project
ALL_BUILDin Visual Studio.
Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
you can only build octomap by proceeding as described above but in the octomap
subdirectory. This can help you getting started when there are problems with
octovis and Qt4.
As verification, you can run the unit tests in Visual Studio by building the
RUN_TESTS project or by using ctest on the command prompt:
octomap/build> ctest.exe -C Release
CHANGELOG
v1.10.0: 2024-03-19
===================
- CMake: Fix duplicate uninstall target (#406)
- Fix errors with recent compilers and C++17/20 standard (#394)
- Fix ScanGraph.h c++20 compilation error (#398)
- Add smaller than operator for vectors (#330)
- Add vcpkg installation instructions to Readme (#382)
- Fix test dependencies in CMakeLists (#374)
- replace deprecated std::iterator by defining required types (#373)
- octovis: fix issue with saving not showing any dialog (#414)
- octovis: Fix deprecated QString and glext redefinition warning (#375)
- octovis: Declare missing dependency on opengl (#408)
- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
- ROS: Remove ccache for ROS-Industrial CI yml (#413)
- ROS: Remove EOL ROS distros from CI actions
v1.9.8: 2022-05-12
==================
- Also set lowercase octomap_* variables in CMake config (#369)
- Fix float tests and overflow problem in binvox2bt
- Fix to freespace update when bbx is set. (#360)
- Update Doxygen & URLs (#354,#352)
- make setBBXMin/Max parameters const (#348)
- ROS: Remove unused ament_cmake dependency.
- octovis: Implement volume selection features (#339)
- octovis: Link dependencies in octovis-static library (#340)
v1.9.7: 2021-05-03
==================
- Use explicit casting to prevent implicit sign conversion
- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
v1.9.6: 2021-01-23
==================
- Fixed ifstream >> byte with c++17
- strict warnings_as_errors compiler options and corresponding fixes
- octovis: Fixed qmake command to build libQGLViewer with Qt5.
- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
- octovis: use -fPIC with all compilers
v1.9.5: 2020-03-25
==================
- octovis: Update ROS dependencies to Qt5
v1.9.4: 2020-03-15
==================
- octovis: Enable Qt5 by default
- Support added for configurable libdir for packaging
- Increased minimum CMake version to 3.0.2
v1.9.3: 2019-12-26
==================
- Fixed Wpedantic warnings
- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
v1.9.2: 2019-11-28
==================
- Fixed ROS buildfarm failures for octovis
v1.9.1: 2019-11-23
==================
- Improved compatibility with modern compilers and ROS2
v1.9.0: 2017-04-28
==================
- Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)
- dynamicEDT3D templated over OctoMap type (thx to J.V. Gomez)
- Added optimized rendering option and command line option for tree cutoff
in octovis (thx to F. Endres)
- Added optional Qt5 support in octovis (thx to K. Stepanas)
- Improved the generation of config.cmake and version.cmake files, make them
relocatable via CONFIGURE_PACKAGE_CONFIG_FILE (thx to J.V. Gomez)
- Enable rpath on OS X when the CMake version supports it (thx to J. Snape)
- Added version information to *-config.cmake files and exported targets to
CMakeLists.txt (thx to J. Snape)
- Improved CMake build by specifically targeting local includes (thx to
C.-E. Hrabia)
v1.8.1: 2017-01-13
==================
- Disambiguated isnan (C++11)
- Fixed #123: Set root=NULL in clear()
- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
v1.8.0: 2016-04-20
==================
- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
enable safely deriving custom node classes. The following functions were
moved from OcTreeDataNode into OcTreeBaseImpl:
createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
expandNode() -> OcTreeBaseImpl::expandNode(...)
pruneNode() -> OcTreeBaseImpl::pruneNode(...)
hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)
If you use custom derived node classes, you need to adjust your code to the
new API (have a look at ColorOcTree.h as an example). In particular, you
should no longer use the above node member functions in your nodes.
- Extended unit tests for the new memory management
- Added valgrind memcheck suppression file with known ("wanted") leaks due to
StaticMemberInitializer.
- Replaced `unsigned short int` for key values with octomap::key_type
(=uint16_t) and unsigned char with uint8_t in API.
- Cleaned up OcTreeKey and KeyRay API (used internally)
- Reduced unneeded memory for StaticMemberInitializer
- Cleaned up const refs to primitive types in ColorOcTree interface
- Removed deprecated insertScan functions (replaced by insertPointCloud)
- Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
OcTreeBaseSE classes
- octovis: Internal version of libQGLViewer updated to 2.6.3
v1.7.2: 2016-03-26
==================
- BBX iterators fixed for empty trees (point3d version)
- Removed qglviewer.h from some public octovis headers
- Fixed QGLViewer library names for Ubuntu wily and xenial
- Fixed install path in CMakeConfigs
v1.7.1: 2016-01-31
==================
- Fixed #82: Enable uninstall target for complete project
- Fixed #47: Exported CMake library paths for Windows no longer
have the Release/Debug prefix and correctly contain the .lib file
- Fixed #51: IO factory class registry with MSVC. Calling a dummy
function from an OcTree class c'tor enables reading general .ot files
when compiling with MSVC
- Fixed #100: Explicit casts to avoid warnings with MSVC
v1.7.0: 2015-11-27
==================
- BBX iterators fixed for empty trees (thx to F. Boniardi)
- graph2tree tool option for nodes in global frame
- New octree2pointcloud PCL conversion tool (thx to F. Ferri)
- Improved change detection / diff calculation (thx to C. Brew)
- getUnknownLeafCenters now allows queries at a specified depth (thx to
A. Ecins)
- Fixed hashing overflow with clang (thx to L. Riano)
v1.6.9: 2016-01-13
==================
- Maintenance release for ROS:
Added function to determine state of change detection
v1.6.7: 2014-08-31
==================
- FSF address in octovis license header for OctoMap package in Fedora
- Separate build options for octovis and dynamicEDT3D. Thanks to C. Reist!
v1.6.6: 2014-05-26
==================
- Support for SOVERSION in the libraries for better packaging
- Warning for unknown space in castRay() removed (needs to be inferred by
calling code depending on return value and endpoint voxel)
- Marching cubes for ray surface intersection extended
- Fixed QGLViewer include paths
- ScanGraph read error no longer exits the process
v1.6.5: 2014-03-14
==================
- Fix octovis includes for QGLViewer > 2.5
v1.6.4: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.6.3: 2014-01-13
==================
- New function setNodeValue(...) to directly set a node's value (#31)
- New approximate point cloud insertion as fast variant (#39, see flag for
insertPointCloud(...) / new function computeDiscreteUpdate(...)
v1.6.2: 2013-11-26
==================
- Improved OSX 10.9 compatibility (thx to B. Jensen)
- Improved VC++ compatibility (thx to tmdiv)
- New fct. getRayIntersection to get real intersection of raycasting on
voxel (thanks to F-M. de Rainville)
- Fix #54: Quote paths in CMake configs to avoid problems with spaces
- Fix #53: Auto-pruning after updateNode
- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
- octovis now includes QGLViewer 2.4 (Qt5 support)
- octovis now looks for the octomap version of the same number
v1.6.1: 2013-06-19
==================
- New function swapContent to exchange the contents of two octrees (issue #32)
- New normal estimation based on marching cubes (thanks to F-M. de Rainville)
- Fixed octovis edit box affecting small selection ranges
- Fixed compilation with gcc 4.8 and OSX (issues #23 #28)
v1.6.0: 2013-04-05
==================
- Speedup: Pruning is now done only on affected nodes on each call to
updateNode(). You no longer have to call prune(), except when you manually
change nodes or use lazy_update.
- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
- Empty octrees no longer contain a root node (#11)
- Library names in CMake configs are now absolute paths, you should no longer
use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
- graph2tree: pointcloud is transformed in batch before insertion, small changes
in command line options
- octovis: more map editing options, fixed setting nodes to free/occupied (thx
to C. Dornhege)
- Sample data is now in octomap/share
v1.5.7: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.5.6: 2013-06-10
==================
- Fixed compilation with OSX 10.8 (issue #23)
v1.5.5: 2013-05-05
==================
- Fixed compilation of external code against OctoMap with gcc4.8 (issue #28)
v1.5.4: 2013-02-27
==================
- Removed binvox binaries from sources for improved packaging compatibility
(ticket #18). Download from www.cs.princeton.edu/~min/binvox/ instead.
v1.5.3: 2012-12-18
==================
- CMakeConfig now installs into share/octomap instead of lib/cmake/octomap for
better compatibility with ROS
- ROS package.xml removed, will be added in the release process
- added sensor model parameters to graph2tree
- new octree evaluation tool: eval_octree_accuracy and compare_octrees
v1.5.2: 2012-11-02
==================
- Fixed compilation with gcc 4.7 (Ubuntu Quantal)
v1.5.1: 2012-10-16
===================
- Fixed raycasting corner cases, expanded unit tests
- added double precision 3D coordinate conversions (ticket #13)
- Fixed compatibility with MSVC
v1.5.0: 2012-08-28
===================
- dynamicEDT3D, a library for dynamically updatable distance maps by C. Sprunk,
B. Lau, and W. Burgard is now available as part of the OctoMap distribution
- added AbstractOccupancyOcTree interface class, moved binary file IO
- delete functionality added to octrees and nodes
- octovis can now delete nodes inside or outside of a selection box
- operator== and copy constructor for octree nodes and octrees
- key / coordinate conversion functions are now clearly named and documented.
genPos/genKey deprecated in favor of coordToKey, keyToCoord
- added limited-depth search
- deep-copy constructor for octrees and nodes, assignment op. is private
- improved compatibility with MSVC (thx to J. Aguado)
- internal QGLViewer version increased to 2.3.17
- cleanup: functions removed /deprecated in favor or iterator-base node traversal
- cleanup: private members renamed (tree root / node children)
v1.4.3: 2012-10-07
==================
- Fixed raycasting corner cases, expanded unit tests
- iterator_base derives public for boost::filter
v1.4.2: 2012-04-24
===================
- extended graph2tree with more verbose logging / statistics
- fixed conversion from color .ot to .bt in convert_octree
- minor fixes in octovis with color rendering
- fixed octovis compilation with Qt 4.8 (Ubuntu 12.04)
- experimental editing functionality in octovis to clear and fill volumes
v1.4.1: 2012-03-12
===================
- added stack.yaml for release in ROS with catkin
v1.4: 2012-02-22
===================
- New generalized file IO for all kinds of OcTrees to .ot files. The updated
file format requires a conversion of your old bt and ot files with the
"convert_octree" tool. bt files are read and written as before.
To write the general .ot file format use tree.write(...) and read it with
AbstractOcTree::read(...) as factory (dynamic_cast to the correct class
afterwards).
- New ColorOcTree class to store color in addition to occupancy
(e.g. from Kinect), with visualization in octovis
- New map collections of octrees (hierarchical octree maps, experimental)
- Support for Linux, Mac OSX, and Windows
- enhancements and fixes in changeDetection
- minor fixes and unit tests added
v1.2: 2011-08-17
===================
- divided code into a library (octomap) and visualization part (octvis) to
remove dependencies on Qt / OpenGL from library. Both can be built
independently or as a complete package.
- iterators for fast and flexible tree access (check doxygen of OcTreeBase::
iterator) are the preferred way to traverse tree nodes now
- improved speed of map update / scan insertion. A further speedup is possible
when using the "lazy evaluation" flag for batch insertion
- unit tests based on CTest ("make test")
- CMake improvements: new targets "dist" (build package) and "uninstall",
dynamic and static libs are built. CMake package config to ease integration
into other CMake-based systems (install octomap globally, or set the
environment variable octomap_DIR to your OctoMap location
- occupancy and sensor parameters are now a property of the tree and not the
nodes. Use e.g. tree->isNodeOccupied(node) instead of node->isOccupied()
- cleanup of OcTree and OccupancyOcTree: the latter now holds most of the
implementation to ease deriving own tree and node types.
See OcTreeStamped for an example.
- debug output is now muted when not compiling as "Debug", ROS logging levels
are used when compiled in ROS
- experimental change detection in occupancy octrees
- bugfixes and general compatibility improvements
v1.0: 2011-03-15
===================
- cleanup of insertScan methods
- key-based raycasting with pre-allocated KeyRay
- speedup and cleanup of math, inlining
v0.8: 2010-11-16
===================
- improved speed of map update / scan insertion
- improved speed of map queries (isOccupied / castRay)
- key-based computations to improve numerical stability and efficiency
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
| Name | Deps |
|---|---|
| grid_map_octomap | |
| dynamic_edt_3d | |
| octovis |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged octomap at Robotics Stack Exchange
|
|
octomap package from octomap repodynamic_edt_3d octomap octovis |
Package Summary
| Tags | No category tags. |
| Version | 1.10.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/OctoMap/octomap.git |
| VCS Type | git |
| VCS Version | devel |
| Last Updated | 2025-04-20 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
http://octomap.github.io for details.
Additional Links
Maintainers
- Armin Hornung
- Wolfgang Merkt
Authors
- Kai M. Wurm
- Armin Hornung
Octomap - A probabilistic, flexible, and compact 3D mapping library for robotic systems
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. https://octomap.github.io
See the list of contributors for further authors.
License for octomap: New BSD License
REQUIREMENTS
- For only the octomap library: cmake and a regular build environment (gcc)
- For HTML documentation: doxygen (optional)
- For the viewer octovis: Qt4, OpenGL, QGLViewer (optional)
Skip to WINDOWS for tips on compilation under Windows. You can install all dependencies on Ubuntu by running:
sudo apt-get install cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
(Note: for older releases of Ubuntu you need to exchange the last package name with libqglviewer-qt4-dev)
INSTALLATION
See http://www.ros.org/wiki/octomap if you want to use OctoMap in ROS! There are pre-compiled packages for octomap, octovis, and ROS integration available.
Build the complete project by changing into the “build” directory and running cmake:
mkdir build && cd build
cmake ..
Type make to compile afterwards. This will create all CMake
files cleanly in the build folder (Out-of-source build).
Executables will end up in bin, libraries in lib.
A debug configuration can be created by running:
cmake -DCMAKE_BUILD_TYPE=Debug ..
in build or a different directory (e.g. build-debug).
You can install the library by running make install, though it
is usually not necessary. Be sure to adjust CMAKE_INSTALL_PREFIX before.
The target make test executes the unit tests for the octomap library,
if you are interested in verifying the functionality on your machine.
DOCUMENTATION
The documentation for the latest stable release is available online: https://octomap.github.io/octomap/doc/index.html
You can build the most current HTML-Documentation for your current
source with Doxygen by running make docs
in the build directory. The documentation will end up in
doc/html/index.html in the main directory.
GETTING STARTED
Jump right in and have a look at the example src/octomap/simple_example.cpp
Or start the 3D viewer with bin/octovis
You will find an example scan and binary tree to load in the directory share.
Further examples can be downloaded from the project website.
USE IN OTHER PROJECTS
A CMake-project config is generated for OctoMap which allows OctoMap to be used from other CMake-Projects easily.
Point CMake to your octomap installation so that it finds the file
octomap/lib/cmake/octomap/octomap-config.cmake, e.g. by setting the environment
variable octomap_DIRto the directory containing it.
Then add the following to your CMakeLists.txt:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
In addition to this cmake-module we also provide a pkgconfig-file.
For convenience, there is a minimal example project included in the file share/example-project.tgz
ECLIPSE PROJECT FILES
Eclipse project files can be generated (with some limitations, see: https://gitlab.kitware.com/cmake/community/-/wikis/doc/editors/Eclipse-CDT4-Generator) by running:
cmake -G"Eclipse CDT4 - Unix Makefiles" ..
Import the project (existing project, root is the build folder, do not copy contents) into Eclipse afterwards. For full Eclipse compatibility, it might be necessary to build in the main source directory.
WINDOWS
The octomap library and tools can be compiled and used under Windows although this has not been tested in-depth. Feedback is welcome.
To compile the library you need cmake (https://www.cmake.org) and either MinGW or Visual Studio.
MinGW
- Download the MinGW distribution (http://www.mingw.org)
- Install C++ compiler and add MingGW/bin to your system PATH
- Start the cmake-gui and set the code directory to the
library root (e.g.
/octomap) - Create and set the build directory to, e.g.,
/octomap/build. - Press “Configure” then “Generate”, select the appropriate generator, “MinGW Makefiles”.
-
Start a command shell and “make” the project:
octomap> cd build octomap/build> mingw32-make.exe
As verification, you can run the unit tests using ctest on the command prompt:
octomap/build> ctest.exe
Microsoft Visual Studio (2013 or later recommended)
Last tested with MSVC 2013 and 2015 (Community Edition).
- Start the cmake-gui and set the source code directory to the
library root (e.g.
\octomap) - Create a build directory and set it in CMake (“Where to build the
binaries”), e.g.
\octomap\build. - Press “Configure” then “Generate”, select the appropriate generator, e.g. “Visual Studio 2015”.
This generates a solution file
octomap.slnin the build directory. - Load this file and build the project
ALL_BUILDin Visual Studio.
Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
you can only build octomap by proceeding as described above but in the octomap
subdirectory. This can help you getting started when there are problems with
octovis and Qt4.
As verification, you can run the unit tests in Visual Studio by building the
RUN_TESTS project or by using ctest on the command prompt:
octomap/build> ctest.exe -C Release
CHANGELOG
v1.10.0: 2024-03-19
===================
- CMake: Fix duplicate uninstall target (#406)
- Fix errors with recent compilers and C++17/20 standard (#394)
- Fix ScanGraph.h c++20 compilation error (#398)
- Add smaller than operator for vectors (#330)
- Add vcpkg installation instructions to Readme (#382)
- Fix test dependencies in CMakeLists (#374)
- replace deprecated std::iterator by defining required types (#373)
- octovis: fix issue with saving not showing any dialog (#414)
- octovis: Fix deprecated QString and glext redefinition warning (#375)
- octovis: Declare missing dependency on opengl (#408)
- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
- ROS: Remove ccache for ROS-Industrial CI yml (#413)
- ROS: Remove EOL ROS distros from CI actions
v1.9.8: 2022-05-12
==================
- Also set lowercase octomap_* variables in CMake config (#369)
- Fix float tests and overflow problem in binvox2bt
- Fix to freespace update when bbx is set. (#360)
- Update Doxygen & URLs (#354,#352)
- make setBBXMin/Max parameters const (#348)
- ROS: Remove unused ament_cmake dependency.
- octovis: Implement volume selection features (#339)
- octovis: Link dependencies in octovis-static library (#340)
v1.9.7: 2021-05-03
==================
- Use explicit casting to prevent implicit sign conversion
- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
v1.9.6: 2021-01-23
==================
- Fixed ifstream >> byte with c++17
- strict warnings_as_errors compiler options and corresponding fixes
- octovis: Fixed qmake command to build libQGLViewer with Qt5.
- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
- octovis: use -fPIC with all compilers
v1.9.5: 2020-03-25
==================
- octovis: Update ROS dependencies to Qt5
v1.9.4: 2020-03-15
==================
- octovis: Enable Qt5 by default
- Support added for configurable libdir for packaging
- Increased minimum CMake version to 3.0.2
v1.9.3: 2019-12-26
==================
- Fixed Wpedantic warnings
- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
v1.9.2: 2019-11-28
==================
- Fixed ROS buildfarm failures for octovis
v1.9.1: 2019-11-23
==================
- Improved compatibility with modern compilers and ROS2
v1.9.0: 2017-04-28
==================
- Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)
- dynamicEDT3D templated over OctoMap type (thx to J.V. Gomez)
- Added optimized rendering option and command line option for tree cutoff
in octovis (thx to F. Endres)
- Added optional Qt5 support in octovis (thx to K. Stepanas)
- Improved the generation of config.cmake and version.cmake files, make them
relocatable via CONFIGURE_PACKAGE_CONFIG_FILE (thx to J.V. Gomez)
- Enable rpath on OS X when the CMake version supports it (thx to J. Snape)
- Added version information to *-config.cmake files and exported targets to
CMakeLists.txt (thx to J. Snape)
- Improved CMake build by specifically targeting local includes (thx to
C.-E. Hrabia)
v1.8.1: 2017-01-13
==================
- Disambiguated isnan (C++11)
- Fixed #123: Set root=NULL in clear()
- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
v1.8.0: 2016-04-20
==================
- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
enable safely deriving custom node classes. The following functions were
moved from OcTreeDataNode into OcTreeBaseImpl:
createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
expandNode() -> OcTreeBaseImpl::expandNode(...)
pruneNode() -> OcTreeBaseImpl::pruneNode(...)
hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)
If you use custom derived node classes, you need to adjust your code to the
new API (have a look at ColorOcTree.h as an example). In particular, you
should no longer use the above node member functions in your nodes.
- Extended unit tests for the new memory management
- Added valgrind memcheck suppression file with known ("wanted") leaks due to
StaticMemberInitializer.
- Replaced `unsigned short int` for key values with octomap::key_type
(=uint16_t) and unsigned char with uint8_t in API.
- Cleaned up OcTreeKey and KeyRay API (used internally)
- Reduced unneeded memory for StaticMemberInitializer
- Cleaned up const refs to primitive types in ColorOcTree interface
- Removed deprecated insertScan functions (replaced by insertPointCloud)
- Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
OcTreeBaseSE classes
- octovis: Internal version of libQGLViewer updated to 2.6.3
v1.7.2: 2016-03-26
==================
- BBX iterators fixed for empty trees (point3d version)
- Removed qglviewer.h from some public octovis headers
- Fixed QGLViewer library names for Ubuntu wily and xenial
- Fixed install path in CMakeConfigs
v1.7.1: 2016-01-31
==================
- Fixed #82: Enable uninstall target for complete project
- Fixed #47: Exported CMake library paths for Windows no longer
have the Release/Debug prefix and correctly contain the .lib file
- Fixed #51: IO factory class registry with MSVC. Calling a dummy
function from an OcTree class c'tor enables reading general .ot files
when compiling with MSVC
- Fixed #100: Explicit casts to avoid warnings with MSVC
v1.7.0: 2015-11-27
==================
- BBX iterators fixed for empty trees (thx to F. Boniardi)
- graph2tree tool option for nodes in global frame
- New octree2pointcloud PCL conversion tool (thx to F. Ferri)
- Improved change detection / diff calculation (thx to C. Brew)
- getUnknownLeafCenters now allows queries at a specified depth (thx to
A. Ecins)
- Fixed hashing overflow with clang (thx to L. Riano)
v1.6.9: 2016-01-13
==================
- Maintenance release for ROS:
Added function to determine state of change detection
v1.6.7: 2014-08-31
==================
- FSF address in octovis license header for OctoMap package in Fedora
- Separate build options for octovis and dynamicEDT3D. Thanks to C. Reist!
v1.6.6: 2014-05-26
==================
- Support for SOVERSION in the libraries for better packaging
- Warning for unknown space in castRay() removed (needs to be inferred by
calling code depending on return value and endpoint voxel)
- Marching cubes for ray surface intersection extended
- Fixed QGLViewer include paths
- ScanGraph read error no longer exits the process
v1.6.5: 2014-03-14
==================
- Fix octovis includes for QGLViewer > 2.5
v1.6.4: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.6.3: 2014-01-13
==================
- New function setNodeValue(...) to directly set a node's value (#31)
- New approximate point cloud insertion as fast variant (#39, see flag for
insertPointCloud(...) / new function computeDiscreteUpdate(...)
v1.6.2: 2013-11-26
==================
- Improved OSX 10.9 compatibility (thx to B. Jensen)
- Improved VC++ compatibility (thx to tmdiv)
- New fct. getRayIntersection to get real intersection of raycasting on
voxel (thanks to F-M. de Rainville)
- Fix #54: Quote paths in CMake configs to avoid problems with spaces
- Fix #53: Auto-pruning after updateNode
- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
- octovis now includes QGLViewer 2.4 (Qt5 support)
- octovis now looks for the octomap version of the same number
v1.6.1: 2013-06-19
==================
- New function swapContent to exchange the contents of two octrees (issue #32)
- New normal estimation based on marching cubes (thanks to F-M. de Rainville)
- Fixed octovis edit box affecting small selection ranges
- Fixed compilation with gcc 4.8 and OSX (issues #23 #28)
v1.6.0: 2013-04-05
==================
- Speedup: Pruning is now done only on affected nodes on each call to
updateNode(). You no longer have to call prune(), except when you manually
change nodes or use lazy_update.
- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
- Empty octrees no longer contain a root node (#11)
- Library names in CMake configs are now absolute paths, you should no longer
use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
- graph2tree: pointcloud is transformed in batch before insertion, small changes
in command line options
- octovis: more map editing options, fixed setting nodes to free/occupied (thx
to C. Dornhege)
- Sample data is now in octomap/share
v1.5.7: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.5.6: 2013-06-10
==================
- Fixed compilation with OSX 10.8 (issue #23)
v1.5.5: 2013-05-05
==================
- Fixed compilation of external code against OctoMap with gcc4.8 (issue #28)
v1.5.4: 2013-02-27
==================
- Removed binvox binaries from sources for improved packaging compatibility
(ticket #18). Download from www.cs.princeton.edu/~min/binvox/ instead.
v1.5.3: 2012-12-18
==================
- CMakeConfig now installs into share/octomap instead of lib/cmake/octomap for
better compatibility with ROS
- ROS package.xml removed, will be added in the release process
- added sensor model parameters to graph2tree
- new octree evaluation tool: eval_octree_accuracy and compare_octrees
v1.5.2: 2012-11-02
==================
- Fixed compilation with gcc 4.7 (Ubuntu Quantal)
v1.5.1: 2012-10-16
===================
- Fixed raycasting corner cases, expanded unit tests
- added double precision 3D coordinate conversions (ticket #13)
- Fixed compatibility with MSVC
v1.5.0: 2012-08-28
===================
- dynamicEDT3D, a library for dynamically updatable distance maps by C. Sprunk,
B. Lau, and W. Burgard is now available as part of the OctoMap distribution
- added AbstractOccupancyOcTree interface class, moved binary file IO
- delete functionality added to octrees and nodes
- octovis can now delete nodes inside or outside of a selection box
- operator== and copy constructor for octree nodes and octrees
- key / coordinate conversion functions are now clearly named and documented.
genPos/genKey deprecated in favor of coordToKey, keyToCoord
- added limited-depth search
- deep-copy constructor for octrees and nodes, assignment op. is private
- improved compatibility with MSVC (thx to J. Aguado)
- internal QGLViewer version increased to 2.3.17
- cleanup: functions removed /deprecated in favor or iterator-base node traversal
- cleanup: private members renamed (tree root / node children)
v1.4.3: 2012-10-07
==================
- Fixed raycasting corner cases, expanded unit tests
- iterator_base derives public for boost::filter
v1.4.2: 2012-04-24
===================
- extended graph2tree with more verbose logging / statistics
- fixed conversion from color .ot to .bt in convert_octree
- minor fixes in octovis with color rendering
- fixed octovis compilation with Qt 4.8 (Ubuntu 12.04)
- experimental editing functionality in octovis to clear and fill volumes
v1.4.1: 2012-03-12
===================
- added stack.yaml for release in ROS with catkin
v1.4: 2012-02-22
===================
- New generalized file IO for all kinds of OcTrees to .ot files. The updated
file format requires a conversion of your old bt and ot files with the
"convert_octree" tool. bt files are read and written as before.
To write the general .ot file format use tree.write(...) and read it with
AbstractOcTree::read(...) as factory (dynamic_cast to the correct class
afterwards).
- New ColorOcTree class to store color in addition to occupancy
(e.g. from Kinect), with visualization in octovis
- New map collections of octrees (hierarchical octree maps, experimental)
- Support for Linux, Mac OSX, and Windows
- enhancements and fixes in changeDetection
- minor fixes and unit tests added
v1.2: 2011-08-17
===================
- divided code into a library (octomap) and visualization part (octvis) to
remove dependencies on Qt / OpenGL from library. Both can be built
independently or as a complete package.
- iterators for fast and flexible tree access (check doxygen of OcTreeBase::
iterator) are the preferred way to traverse tree nodes now
- improved speed of map update / scan insertion. A further speedup is possible
when using the "lazy evaluation" flag for batch insertion
- unit tests based on CTest ("make test")
- CMake improvements: new targets "dist" (build package) and "uninstall",
dynamic and static libs are built. CMake package config to ease integration
into other CMake-based systems (install octomap globally, or set the
environment variable octomap_DIR to your OctoMap location
- occupancy and sensor parameters are now a property of the tree and not the
nodes. Use e.g. tree->isNodeOccupied(node) instead of node->isOccupied()
- cleanup of OcTree and OccupancyOcTree: the latter now holds most of the
implementation to ease deriving own tree and node types.
See OcTreeStamped for an example.
- debug output is now muted when not compiling as "Debug", ROS logging levels
are used when compiled in ROS
- experimental change detection in occupancy octrees
- bugfixes and general compatibility improvements
v1.0: 2011-03-15
===================
- cleanup of insertScan methods
- key-based raycasting with pre-allocated KeyRay
- speedup and cleanup of math, inlining
v0.8: 2010-11-16
===================
- improved speed of map update / scan insertion
- improved speed of map queries (isOccupied / castRay)
- key-based computations to improve numerical stability and efficiency
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged octomap at Robotics Stack Exchange
|
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octomap package from octomap repodynamic_edt_3d octomap octovis |
Package Summary
| Tags | No category tags. |
| Version | 1.10.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/OctoMap/octomap.git |
| VCS Type | git |
| VCS Version | devel |
| Last Updated | 2025-04-20 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
http://octomap.github.io for details.
Additional Links
Maintainers
- Armin Hornung
- Wolfgang Merkt
Authors
- Kai M. Wurm
- Armin Hornung
Octomap - A probabilistic, flexible, and compact 3D mapping library for robotic systems
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. https://octomap.github.io
See the list of contributors for further authors.
License for octomap: New BSD License
REQUIREMENTS
- For only the octomap library: cmake and a regular build environment (gcc)
- For HTML documentation: doxygen (optional)
- For the viewer octovis: Qt4, OpenGL, QGLViewer (optional)
Skip to WINDOWS for tips on compilation under Windows. You can install all dependencies on Ubuntu by running:
sudo apt-get install cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
(Note: for older releases of Ubuntu you need to exchange the last package name with libqglviewer-qt4-dev)
INSTALLATION
See http://www.ros.org/wiki/octomap if you want to use OctoMap in ROS! There are pre-compiled packages for octomap, octovis, and ROS integration available.
Build the complete project by changing into the “build” directory and running cmake:
mkdir build && cd build
cmake ..
Type make to compile afterwards. This will create all CMake
files cleanly in the build folder (Out-of-source build).
Executables will end up in bin, libraries in lib.
A debug configuration can be created by running:
cmake -DCMAKE_BUILD_TYPE=Debug ..
in build or a different directory (e.g. build-debug).
You can install the library by running make install, though it
is usually not necessary. Be sure to adjust CMAKE_INSTALL_PREFIX before.
The target make test executes the unit tests for the octomap library,
if you are interested in verifying the functionality on your machine.
DOCUMENTATION
The documentation for the latest stable release is available online: https://octomap.github.io/octomap/doc/index.html
You can build the most current HTML-Documentation for your current
source with Doxygen by running make docs
in the build directory. The documentation will end up in
doc/html/index.html in the main directory.
GETTING STARTED
Jump right in and have a look at the example src/octomap/simple_example.cpp
Or start the 3D viewer with bin/octovis
You will find an example scan and binary tree to load in the directory share.
Further examples can be downloaded from the project website.
USE IN OTHER PROJECTS
A CMake-project config is generated for OctoMap which allows OctoMap to be used from other CMake-Projects easily.
Point CMake to your octomap installation so that it finds the file
octomap/lib/cmake/octomap/octomap-config.cmake, e.g. by setting the environment
variable octomap_DIRto the directory containing it.
Then add the following to your CMakeLists.txt:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
In addition to this cmake-module we also provide a pkgconfig-file.
For convenience, there is a minimal example project included in the file share/example-project.tgz
ECLIPSE PROJECT FILES
Eclipse project files can be generated (with some limitations, see: https://gitlab.kitware.com/cmake/community/-/wikis/doc/editors/Eclipse-CDT4-Generator) by running:
cmake -G"Eclipse CDT4 - Unix Makefiles" ..
Import the project (existing project, root is the build folder, do not copy contents) into Eclipse afterwards. For full Eclipse compatibility, it might be necessary to build in the main source directory.
WINDOWS
The octomap library and tools can be compiled and used under Windows although this has not been tested in-depth. Feedback is welcome.
To compile the library you need cmake (https://www.cmake.org) and either MinGW or Visual Studio.
MinGW
- Download the MinGW distribution (http://www.mingw.org)
- Install C++ compiler and add MingGW/bin to your system PATH
- Start the cmake-gui and set the code directory to the
library root (e.g.
/octomap) - Create and set the build directory to, e.g.,
/octomap/build. - Press “Configure” then “Generate”, select the appropriate generator, “MinGW Makefiles”.
-
Start a command shell and “make” the project:
octomap> cd build octomap/build> mingw32-make.exe
As verification, you can run the unit tests using ctest on the command prompt:
octomap/build> ctest.exe
Microsoft Visual Studio (2013 or later recommended)
Last tested with MSVC 2013 and 2015 (Community Edition).
- Start the cmake-gui and set the source code directory to the
library root (e.g.
\octomap) - Create a build directory and set it in CMake (“Where to build the
binaries”), e.g.
\octomap\build. - Press “Configure” then “Generate”, select the appropriate generator, e.g. “Visual Studio 2015”.
This generates a solution file
octomap.slnin the build directory. - Load this file and build the project
ALL_BUILDin Visual Studio.
Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
you can only build octomap by proceeding as described above but in the octomap
subdirectory. This can help you getting started when there are problems with
octovis and Qt4.
As verification, you can run the unit tests in Visual Studio by building the
RUN_TESTS project or by using ctest on the command prompt:
octomap/build> ctest.exe -C Release
CHANGELOG
v1.10.0: 2024-03-19
===================
- CMake: Fix duplicate uninstall target (#406)
- Fix errors with recent compilers and C++17/20 standard (#394)
- Fix ScanGraph.h c++20 compilation error (#398)
- Add smaller than operator for vectors (#330)
- Add vcpkg installation instructions to Readme (#382)
- Fix test dependencies in CMakeLists (#374)
- replace deprecated std::iterator by defining required types (#373)
- octovis: fix issue with saving not showing any dialog (#414)
- octovis: Fix deprecated QString and glext redefinition warning (#375)
- octovis: Declare missing dependency on opengl (#408)
- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
- ROS: Remove ccache for ROS-Industrial CI yml (#413)
- ROS: Remove EOL ROS distros from CI actions
v1.9.8: 2022-05-12
==================
- Also set lowercase octomap_* variables in CMake config (#369)
- Fix float tests and overflow problem in binvox2bt
- Fix to freespace update when bbx is set. (#360)
- Update Doxygen & URLs (#354,#352)
- make setBBXMin/Max parameters const (#348)
- ROS: Remove unused ament_cmake dependency.
- octovis: Implement volume selection features (#339)
- octovis: Link dependencies in octovis-static library (#340)
v1.9.7: 2021-05-03
==================
- Use explicit casting to prevent implicit sign conversion
- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
v1.9.6: 2021-01-23
==================
- Fixed ifstream >> byte with c++17
- strict warnings_as_errors compiler options and corresponding fixes
- octovis: Fixed qmake command to build libQGLViewer with Qt5.
- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
- octovis: use -fPIC with all compilers
v1.9.5: 2020-03-25
==================
- octovis: Update ROS dependencies to Qt5
v1.9.4: 2020-03-15
==================
- octovis: Enable Qt5 by default
- Support added for configurable libdir for packaging
- Increased minimum CMake version to 3.0.2
v1.9.3: 2019-12-26
==================
- Fixed Wpedantic warnings
- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
v1.9.2: 2019-11-28
==================
- Fixed ROS buildfarm failures for octovis
v1.9.1: 2019-11-23
==================
- Improved compatibility with modern compilers and ROS2
v1.9.0: 2017-04-28
==================
- Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)
- dynamicEDT3D templated over OctoMap type (thx to J.V. Gomez)
- Added optimized rendering option and command line option for tree cutoff
in octovis (thx to F. Endres)
- Added optional Qt5 support in octovis (thx to K. Stepanas)
- Improved the generation of config.cmake and version.cmake files, make them
relocatable via CONFIGURE_PACKAGE_CONFIG_FILE (thx to J.V. Gomez)
- Enable rpath on OS X when the CMake version supports it (thx to J. Snape)
- Added version information to *-config.cmake files and exported targets to
CMakeLists.txt (thx to J. Snape)
- Improved CMake build by specifically targeting local includes (thx to
C.-E. Hrabia)
v1.8.1: 2017-01-13
==================
- Disambiguated isnan (C++11)
- Fixed #123: Set root=NULL in clear()
- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
v1.8.0: 2016-04-20
==================
- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
enable safely deriving custom node classes. The following functions were
moved from OcTreeDataNode into OcTreeBaseImpl:
createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
expandNode() -> OcTreeBaseImpl::expandNode(...)
pruneNode() -> OcTreeBaseImpl::pruneNode(...)
hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)
If you use custom derived node classes, you need to adjust your code to the
new API (have a look at ColorOcTree.h as an example). In particular, you
should no longer use the above node member functions in your nodes.
- Extended unit tests for the new memory management
- Added valgrind memcheck suppression file with known ("wanted") leaks due to
StaticMemberInitializer.
- Replaced `unsigned short int` for key values with octomap::key_type
(=uint16_t) and unsigned char with uint8_t in API.
- Cleaned up OcTreeKey and KeyRay API (used internally)
- Reduced unneeded memory for StaticMemberInitializer
- Cleaned up const refs to primitive types in ColorOcTree interface
- Removed deprecated insertScan functions (replaced by insertPointCloud)
- Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
OcTreeBaseSE classes
- octovis: Internal version of libQGLViewer updated to 2.6.3
v1.7.2: 2016-03-26
==================
- BBX iterators fixed for empty trees (point3d version)
- Removed qglviewer.h from some public octovis headers
- Fixed QGLViewer library names for Ubuntu wily and xenial
- Fixed install path in CMakeConfigs
v1.7.1: 2016-01-31
==================
- Fixed #82: Enable uninstall target for complete project
- Fixed #47: Exported CMake library paths for Windows no longer
have the Release/Debug prefix and correctly contain the .lib file
- Fixed #51: IO factory class registry with MSVC. Calling a dummy
function from an OcTree class c'tor enables reading general .ot files
when compiling with MSVC
- Fixed #100: Explicit casts to avoid warnings with MSVC
v1.7.0: 2015-11-27
==================
- BBX iterators fixed for empty trees (thx to F. Boniardi)
- graph2tree tool option for nodes in global frame
- New octree2pointcloud PCL conversion tool (thx to F. Ferri)
- Improved change detection / diff calculation (thx to C. Brew)
- getUnknownLeafCenters now allows queries at a specified depth (thx to
A. Ecins)
- Fixed hashing overflow with clang (thx to L. Riano)
v1.6.9: 2016-01-13
==================
- Maintenance release for ROS:
Added function to determine state of change detection
v1.6.7: 2014-08-31
==================
- FSF address in octovis license header for OctoMap package in Fedora
- Separate build options for octovis and dynamicEDT3D. Thanks to C. Reist!
v1.6.6: 2014-05-26
==================
- Support for SOVERSION in the libraries for better packaging
- Warning for unknown space in castRay() removed (needs to be inferred by
calling code depending on return value and endpoint voxel)
- Marching cubes for ray surface intersection extended
- Fixed QGLViewer include paths
- ScanGraph read error no longer exits the process
v1.6.5: 2014-03-14
==================
- Fix octovis includes for QGLViewer > 2.5
v1.6.4: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.6.3: 2014-01-13
==================
- New function setNodeValue(...) to directly set a node's value (#31)
- New approximate point cloud insertion as fast variant (#39, see flag for
insertPointCloud(...) / new function computeDiscreteUpdate(...)
v1.6.2: 2013-11-26
==================
- Improved OSX 10.9 compatibility (thx to B. Jensen)
- Improved VC++ compatibility (thx to tmdiv)
- New fct. getRayIntersection to get real intersection of raycasting on
voxel (thanks to F-M. de Rainville)
- Fix #54: Quote paths in CMake configs to avoid problems with spaces
- Fix #53: Auto-pruning after updateNode
- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
- octovis now includes QGLViewer 2.4 (Qt5 support)
- octovis now looks for the octomap version of the same number
v1.6.1: 2013-06-19
==================
- New function swapContent to exchange the contents of two octrees (issue #32)
- New normal estimation based on marching cubes (thanks to F-M. de Rainville)
- Fixed octovis edit box affecting small selection ranges
- Fixed compilation with gcc 4.8 and OSX (issues #23 #28)
v1.6.0: 2013-04-05
==================
- Speedup: Pruning is now done only on affected nodes on each call to
updateNode(). You no longer have to call prune(), except when you manually
change nodes or use lazy_update.
- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
- Empty octrees no longer contain a root node (#11)
- Library names in CMake configs are now absolute paths, you should no longer
use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
- graph2tree: pointcloud is transformed in batch before insertion, small changes
in command line options
- octovis: more map editing options, fixed setting nodes to free/occupied (thx
to C. Dornhege)
- Sample data is now in octomap/share
v1.5.7: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.5.6: 2013-06-10
==================
- Fixed compilation with OSX 10.8 (issue #23)
v1.5.5: 2013-05-05
==================
- Fixed compilation of external code against OctoMap with gcc4.8 (issue #28)
v1.5.4: 2013-02-27
==================
- Removed binvox binaries from sources for improved packaging compatibility
(ticket #18). Download from www.cs.princeton.edu/~min/binvox/ instead.
v1.5.3: 2012-12-18
==================
- CMakeConfig now installs into share/octomap instead of lib/cmake/octomap for
better compatibility with ROS
- ROS package.xml removed, will be added in the release process
- added sensor model parameters to graph2tree
- new octree evaluation tool: eval_octree_accuracy and compare_octrees
v1.5.2: 2012-11-02
==================
- Fixed compilation with gcc 4.7 (Ubuntu Quantal)
v1.5.1: 2012-10-16
===================
- Fixed raycasting corner cases, expanded unit tests
- added double precision 3D coordinate conversions (ticket #13)
- Fixed compatibility with MSVC
v1.5.0: 2012-08-28
===================
- dynamicEDT3D, a library for dynamically updatable distance maps by C. Sprunk,
B. Lau, and W. Burgard is now available as part of the OctoMap distribution
- added AbstractOccupancyOcTree interface class, moved binary file IO
- delete functionality added to octrees and nodes
- octovis can now delete nodes inside or outside of a selection box
- operator== and copy constructor for octree nodes and octrees
- key / coordinate conversion functions are now clearly named and documented.
genPos/genKey deprecated in favor of coordToKey, keyToCoord
- added limited-depth search
- deep-copy constructor for octrees and nodes, assignment op. is private
- improved compatibility with MSVC (thx to J. Aguado)
- internal QGLViewer version increased to 2.3.17
- cleanup: functions removed /deprecated in favor or iterator-base node traversal
- cleanup: private members renamed (tree root / node children)
v1.4.3: 2012-10-07
==================
- Fixed raycasting corner cases, expanded unit tests
- iterator_base derives public for boost::filter
v1.4.2: 2012-04-24
===================
- extended graph2tree with more verbose logging / statistics
- fixed conversion from color .ot to .bt in convert_octree
- minor fixes in octovis with color rendering
- fixed octovis compilation with Qt 4.8 (Ubuntu 12.04)
- experimental editing functionality in octovis to clear and fill volumes
v1.4.1: 2012-03-12
===================
- added stack.yaml for release in ROS with catkin
v1.4: 2012-02-22
===================
- New generalized file IO for all kinds of OcTrees to .ot files. The updated
file format requires a conversion of your old bt and ot files with the
"convert_octree" tool. bt files are read and written as before.
To write the general .ot file format use tree.write(...) and read it with
AbstractOcTree::read(...) as factory (dynamic_cast to the correct class
afterwards).
- New ColorOcTree class to store color in addition to occupancy
(e.g. from Kinect), with visualization in octovis
- New map collections of octrees (hierarchical octree maps, experimental)
- Support for Linux, Mac OSX, and Windows
- enhancements and fixes in changeDetection
- minor fixes and unit tests added
v1.2: 2011-08-17
===================
- divided code into a library (octomap) and visualization part (octvis) to
remove dependencies on Qt / OpenGL from library. Both can be built
independently or as a complete package.
- iterators for fast and flexible tree access (check doxygen of OcTreeBase::
iterator) are the preferred way to traverse tree nodes now
- improved speed of map update / scan insertion. A further speedup is possible
when using the "lazy evaluation" flag for batch insertion
- unit tests based on CTest ("make test")
- CMake improvements: new targets "dist" (build package) and "uninstall",
dynamic and static libs are built. CMake package config to ease integration
into other CMake-based systems (install octomap globally, or set the
environment variable octomap_DIR to your OctoMap location
- occupancy and sensor parameters are now a property of the tree and not the
nodes. Use e.g. tree->isNodeOccupied(node) instead of node->isOccupied()
- cleanup of OcTree and OccupancyOcTree: the latter now holds most of the
implementation to ease deriving own tree and node types.
See OcTreeStamped for an example.
- debug output is now muted when not compiling as "Debug", ROS logging levels
are used when compiled in ROS
- experimental change detection in occupancy octrees
- bugfixes and general compatibility improvements
v1.0: 2011-03-15
===================
- cleanup of insertScan methods
- key-based raycasting with pre-allocated KeyRay
- speedup and cleanup of math, inlining
v0.8: 2010-11-16
===================
- improved speed of map update / scan insertion
- improved speed of map queries (isOccupied / castRay)
- key-based computations to improve numerical stability and efficiency
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged octomap at Robotics Stack Exchange
|
|
octomap package from octomap repodynamic_edt_3d octomap octovis |
Package Summary
| Tags | No category tags. |
| Version | 1.10.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/OctoMap/octomap.git |
| VCS Type | git |
| VCS Version | devel |
| Last Updated | 2025-04-20 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
http://octomap.github.io for details.
Additional Links
Maintainers
- Armin Hornung
- Wolfgang Merkt
Authors
- Kai M. Wurm
- Armin Hornung
Octomap - A probabilistic, flexible, and compact 3D mapping library for robotic systems
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. https://octomap.github.io
See the list of contributors for further authors.
License for octomap: New BSD License
REQUIREMENTS
- For only the octomap library: cmake and a regular build environment (gcc)
- For HTML documentation: doxygen (optional)
- For the viewer octovis: Qt4, OpenGL, QGLViewer (optional)
Skip to WINDOWS for tips on compilation under Windows. You can install all dependencies on Ubuntu by running:
sudo apt-get install cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
(Note: for older releases of Ubuntu you need to exchange the last package name with libqglviewer-qt4-dev)
INSTALLATION
See http://www.ros.org/wiki/octomap if you want to use OctoMap in ROS! There are pre-compiled packages for octomap, octovis, and ROS integration available.
Build the complete project by changing into the “build” directory and running cmake:
mkdir build && cd build
cmake ..
Type make to compile afterwards. This will create all CMake
files cleanly in the build folder (Out-of-source build).
Executables will end up in bin, libraries in lib.
A debug configuration can be created by running:
cmake -DCMAKE_BUILD_TYPE=Debug ..
in build or a different directory (e.g. build-debug).
You can install the library by running make install, though it
is usually not necessary. Be sure to adjust CMAKE_INSTALL_PREFIX before.
The target make test executes the unit tests for the octomap library,
if you are interested in verifying the functionality on your machine.
DOCUMENTATION
The documentation for the latest stable release is available online: https://octomap.github.io/octomap/doc/index.html
You can build the most current HTML-Documentation for your current
source with Doxygen by running make docs
in the build directory. The documentation will end up in
doc/html/index.html in the main directory.
GETTING STARTED
Jump right in and have a look at the example src/octomap/simple_example.cpp
Or start the 3D viewer with bin/octovis
You will find an example scan and binary tree to load in the directory share.
Further examples can be downloaded from the project website.
USE IN OTHER PROJECTS
A CMake-project config is generated for OctoMap which allows OctoMap to be used from other CMake-Projects easily.
Point CMake to your octomap installation so that it finds the file
octomap/lib/cmake/octomap/octomap-config.cmake, e.g. by setting the environment
variable octomap_DIRto the directory containing it.
Then add the following to your CMakeLists.txt:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
In addition to this cmake-module we also provide a pkgconfig-file.
For convenience, there is a minimal example project included in the file share/example-project.tgz
ECLIPSE PROJECT FILES
Eclipse project files can be generated (with some limitations, see: https://gitlab.kitware.com/cmake/community/-/wikis/doc/editors/Eclipse-CDT4-Generator) by running:
cmake -G"Eclipse CDT4 - Unix Makefiles" ..
Import the project (existing project, root is the build folder, do not copy contents) into Eclipse afterwards. For full Eclipse compatibility, it might be necessary to build in the main source directory.
WINDOWS
The octomap library and tools can be compiled and used under Windows although this has not been tested in-depth. Feedback is welcome.
To compile the library you need cmake (https://www.cmake.org) and either MinGW or Visual Studio.
MinGW
- Download the MinGW distribution (http://www.mingw.org)
- Install C++ compiler and add MingGW/bin to your system PATH
- Start the cmake-gui and set the code directory to the
library root (e.g.
/octomap) - Create and set the build directory to, e.g.,
/octomap/build. - Press “Configure” then “Generate”, select the appropriate generator, “MinGW Makefiles”.
-
Start a command shell and “make” the project:
octomap> cd build octomap/build> mingw32-make.exe
As verification, you can run the unit tests using ctest on the command prompt:
octomap/build> ctest.exe
Microsoft Visual Studio (2013 or later recommended)
Last tested with MSVC 2013 and 2015 (Community Edition).
- Start the cmake-gui and set the source code directory to the
library root (e.g.
\octomap) - Create a build directory and set it in CMake (“Where to build the
binaries”), e.g.
\octomap\build. - Press “Configure” then “Generate”, select the appropriate generator, e.g. “Visual Studio 2015”.
This generates a solution file
octomap.slnin the build directory. - Load this file and build the project
ALL_BUILDin Visual Studio.
Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
you can only build octomap by proceeding as described above but in the octomap
subdirectory. This can help you getting started when there are problems with
octovis and Qt4.
As verification, you can run the unit tests in Visual Studio by building the
RUN_TESTS project or by using ctest on the command prompt:
octomap/build> ctest.exe -C Release
CHANGELOG
v1.10.0: 2024-03-19
===================
- CMake: Fix duplicate uninstall target (#406)
- Fix errors with recent compilers and C++17/20 standard (#394)
- Fix ScanGraph.h c++20 compilation error (#398)
- Add smaller than operator for vectors (#330)
- Add vcpkg installation instructions to Readme (#382)
- Fix test dependencies in CMakeLists (#374)
- replace deprecated std::iterator by defining required types (#373)
- octovis: fix issue with saving not showing any dialog (#414)
- octovis: Fix deprecated QString and glext redefinition warning (#375)
- octovis: Declare missing dependency on opengl (#408)
- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
- ROS: Remove ccache for ROS-Industrial CI yml (#413)
- ROS: Remove EOL ROS distros from CI actions
v1.9.8: 2022-05-12
==================
- Also set lowercase octomap_* variables in CMake config (#369)
- Fix float tests and overflow problem in binvox2bt
- Fix to freespace update when bbx is set. (#360)
- Update Doxygen & URLs (#354,#352)
- make setBBXMin/Max parameters const (#348)
- ROS: Remove unused ament_cmake dependency.
- octovis: Implement volume selection features (#339)
- octovis: Link dependencies in octovis-static library (#340)
v1.9.7: 2021-05-03
==================
- Use explicit casting to prevent implicit sign conversion
- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
v1.9.6: 2021-01-23
==================
- Fixed ifstream >> byte with c++17
- strict warnings_as_errors compiler options and corresponding fixes
- octovis: Fixed qmake command to build libQGLViewer with Qt5.
- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
- octovis: use -fPIC with all compilers
v1.9.5: 2020-03-25
==================
- octovis: Update ROS dependencies to Qt5
v1.9.4: 2020-03-15
==================
- octovis: Enable Qt5 by default
- Support added for configurable libdir for packaging
- Increased minimum CMake version to 3.0.2
v1.9.3: 2019-12-26
==================
- Fixed Wpedantic warnings
- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
v1.9.2: 2019-11-28
==================
- Fixed ROS buildfarm failures for octovis
v1.9.1: 2019-11-23
==================
- Improved compatibility with modern compilers and ROS2
v1.9.0: 2017-04-28
==================
- Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)
- dynamicEDT3D templated over OctoMap type (thx to J.V. Gomez)
- Added optimized rendering option and command line option for tree cutoff
in octovis (thx to F. Endres)
- Added optional Qt5 support in octovis (thx to K. Stepanas)
- Improved the generation of config.cmake and version.cmake files, make them
relocatable via CONFIGURE_PACKAGE_CONFIG_FILE (thx to J.V. Gomez)
- Enable rpath on OS X when the CMake version supports it (thx to J. Snape)
- Added version information to *-config.cmake files and exported targets to
CMakeLists.txt (thx to J. Snape)
- Improved CMake build by specifically targeting local includes (thx to
C.-E. Hrabia)
v1.8.1: 2017-01-13
==================
- Disambiguated isnan (C++11)
- Fixed #123: Set root=NULL in clear()
- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
v1.8.0: 2016-04-20
==================
- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
enable safely deriving custom node classes. The following functions were
moved from OcTreeDataNode into OcTreeBaseImpl:
createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
expandNode() -> OcTreeBaseImpl::expandNode(...)
pruneNode() -> OcTreeBaseImpl::pruneNode(...)
hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)
If you use custom derived node classes, you need to adjust your code to the
new API (have a look at ColorOcTree.h as an example). In particular, you
should no longer use the above node member functions in your nodes.
- Extended unit tests for the new memory management
- Added valgrind memcheck suppression file with known ("wanted") leaks due to
StaticMemberInitializer.
- Replaced `unsigned short int` for key values with octomap::key_type
(=uint16_t) and unsigned char with uint8_t in API.
- Cleaned up OcTreeKey and KeyRay API (used internally)
- Reduced unneeded memory for StaticMemberInitializer
- Cleaned up const refs to primitive types in ColorOcTree interface
- Removed deprecated insertScan functions (replaced by insertPointCloud)
- Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
OcTreeBaseSE classes
- octovis: Internal version of libQGLViewer updated to 2.6.3
v1.7.2: 2016-03-26
==================
- BBX iterators fixed for empty trees (point3d version)
- Removed qglviewer.h from some public octovis headers
- Fixed QGLViewer library names for Ubuntu wily and xenial
- Fixed install path in CMakeConfigs
v1.7.1: 2016-01-31
==================
- Fixed #82: Enable uninstall target for complete project
- Fixed #47: Exported CMake library paths for Windows no longer
have the Release/Debug prefix and correctly contain the .lib file
- Fixed #51: IO factory class registry with MSVC. Calling a dummy
function from an OcTree class c'tor enables reading general .ot files
when compiling with MSVC
- Fixed #100: Explicit casts to avoid warnings with MSVC
v1.7.0: 2015-11-27
==================
- BBX iterators fixed for empty trees (thx to F. Boniardi)
- graph2tree tool option for nodes in global frame
- New octree2pointcloud PCL conversion tool (thx to F. Ferri)
- Improved change detection / diff calculation (thx to C. Brew)
- getUnknownLeafCenters now allows queries at a specified depth (thx to
A. Ecins)
- Fixed hashing overflow with clang (thx to L. Riano)
v1.6.9: 2016-01-13
==================
- Maintenance release for ROS:
Added function to determine state of change detection
v1.6.7: 2014-08-31
==================
- FSF address in octovis license header for OctoMap package in Fedora
- Separate build options for octovis and dynamicEDT3D. Thanks to C. Reist!
v1.6.6: 2014-05-26
==================
- Support for SOVERSION in the libraries for better packaging
- Warning for unknown space in castRay() removed (needs to be inferred by
calling code depending on return value and endpoint voxel)
- Marching cubes for ray surface intersection extended
- Fixed QGLViewer include paths
- ScanGraph read error no longer exits the process
v1.6.5: 2014-03-14
==================
- Fix octovis includes for QGLViewer > 2.5
v1.6.4: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.6.3: 2014-01-13
==================
- New function setNodeValue(...) to directly set a node's value (#31)
- New approximate point cloud insertion as fast variant (#39, see flag for
insertPointCloud(...) / new function computeDiscreteUpdate(...)
v1.6.2: 2013-11-26
==================
- Improved OSX 10.9 compatibility (thx to B. Jensen)
- Improved VC++ compatibility (thx to tmdiv)
- New fct. getRayIntersection to get real intersection of raycasting on
voxel (thanks to F-M. de Rainville)
- Fix #54: Quote paths in CMake configs to avoid problems with spaces
- Fix #53: Auto-pruning after updateNode
- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
- octovis now includes QGLViewer 2.4 (Qt5 support)
- octovis now looks for the octomap version of the same number
v1.6.1: 2013-06-19
==================
- New function swapContent to exchange the contents of two octrees (issue #32)
- New normal estimation based on marching cubes (thanks to F-M. de Rainville)
- Fixed octovis edit box affecting small selection ranges
- Fixed compilation with gcc 4.8 and OSX (issues #23 #28)
v1.6.0: 2013-04-05
==================
- Speedup: Pruning is now done only on affected nodes on each call to
updateNode(). You no longer have to call prune(), except when you manually
change nodes or use lazy_update.
- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
- Empty octrees no longer contain a root node (#11)
- Library names in CMake configs are now absolute paths, you should no longer
use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
- graph2tree: pointcloud is transformed in batch before insertion, small changes
in command line options
- octovis: more map editing options, fixed setting nodes to free/occupied (thx
to C. Dornhege)
- Sample data is now in octomap/share
v1.5.7: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.5.6: 2013-06-10
==================
- Fixed compilation with OSX 10.8 (issue #23)
v1.5.5: 2013-05-05
==================
- Fixed compilation of external code against OctoMap with gcc4.8 (issue #28)
v1.5.4: 2013-02-27
==================
- Removed binvox binaries from sources for improved packaging compatibility
(ticket #18). Download from www.cs.princeton.edu/~min/binvox/ instead.
v1.5.3: 2012-12-18
==================
- CMakeConfig now installs into share/octomap instead of lib/cmake/octomap for
better compatibility with ROS
- ROS package.xml removed, will be added in the release process
- added sensor model parameters to graph2tree
- new octree evaluation tool: eval_octree_accuracy and compare_octrees
v1.5.2: 2012-11-02
==================
- Fixed compilation with gcc 4.7 (Ubuntu Quantal)
v1.5.1: 2012-10-16
===================
- Fixed raycasting corner cases, expanded unit tests
- added double precision 3D coordinate conversions (ticket #13)
- Fixed compatibility with MSVC
v1.5.0: 2012-08-28
===================
- dynamicEDT3D, a library for dynamically updatable distance maps by C. Sprunk,
B. Lau, and W. Burgard is now available as part of the OctoMap distribution
- added AbstractOccupancyOcTree interface class, moved binary file IO
- delete functionality added to octrees and nodes
- octovis can now delete nodes inside or outside of a selection box
- operator== and copy constructor for octree nodes and octrees
- key / coordinate conversion functions are now clearly named and documented.
genPos/genKey deprecated in favor of coordToKey, keyToCoord
- added limited-depth search
- deep-copy constructor for octrees and nodes, assignment op. is private
- improved compatibility with MSVC (thx to J. Aguado)
- internal QGLViewer version increased to 2.3.17
- cleanup: functions removed /deprecated in favor or iterator-base node traversal
- cleanup: private members renamed (tree root / node children)
v1.4.3: 2012-10-07
==================
- Fixed raycasting corner cases, expanded unit tests
- iterator_base derives public for boost::filter
v1.4.2: 2012-04-24
===================
- extended graph2tree with more verbose logging / statistics
- fixed conversion from color .ot to .bt in convert_octree
- minor fixes in octovis with color rendering
- fixed octovis compilation with Qt 4.8 (Ubuntu 12.04)
- experimental editing functionality in octovis to clear and fill volumes
v1.4.1: 2012-03-12
===================
- added stack.yaml for release in ROS with catkin
v1.4: 2012-02-22
===================
- New generalized file IO for all kinds of OcTrees to .ot files. The updated
file format requires a conversion of your old bt and ot files with the
"convert_octree" tool. bt files are read and written as before.
To write the general .ot file format use tree.write(...) and read it with
AbstractOcTree::read(...) as factory (dynamic_cast to the correct class
afterwards).
- New ColorOcTree class to store color in addition to occupancy
(e.g. from Kinect), with visualization in octovis
- New map collections of octrees (hierarchical octree maps, experimental)
- Support for Linux, Mac OSX, and Windows
- enhancements and fixes in changeDetection
- minor fixes and unit tests added
v1.2: 2011-08-17
===================
- divided code into a library (octomap) and visualization part (octvis) to
remove dependencies on Qt / OpenGL from library. Both can be built
independently or as a complete package.
- iterators for fast and flexible tree access (check doxygen of OcTreeBase::
iterator) are the preferred way to traverse tree nodes now
- improved speed of map update / scan insertion. A further speedup is possible
when using the "lazy evaluation" flag for batch insertion
- unit tests based on CTest ("make test")
- CMake improvements: new targets "dist" (build package) and "uninstall",
dynamic and static libs are built. CMake package config to ease integration
into other CMake-based systems (install octomap globally, or set the
environment variable octomap_DIR to your OctoMap location
- occupancy and sensor parameters are now a property of the tree and not the
nodes. Use e.g. tree->isNodeOccupied(node) instead of node->isOccupied()
- cleanup of OcTree and OccupancyOcTree: the latter now holds most of the
implementation to ease deriving own tree and node types.
See OcTreeStamped for an example.
- debug output is now muted when not compiling as "Debug", ROS logging levels
are used when compiled in ROS
- experimental change detection in occupancy octrees
- bugfixes and general compatibility improvements
v1.0: 2011-03-15
===================
- cleanup of insertScan methods
- key-based raycasting with pre-allocated KeyRay
- speedup and cleanup of math, inlining
v0.8: 2010-11-16
===================
- improved speed of map update / scan insertion
- improved speed of map queries (isOccupied / castRay)
- key-based computations to improve numerical stability and efficiency
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged octomap at Robotics Stack Exchange
|
|
octomap package from octomap repodynamic_edt_3d octomap octovis |
Package Summary
| Tags | No category tags. |
| Version | 1.10.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/OctoMap/octomap.git |
| VCS Type | git |
| VCS Version | devel |
| Last Updated | 2025-04-20 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
http://octomap.github.io for details.
Additional Links
Maintainers
- Armin Hornung
- Wolfgang Merkt
Authors
- Kai M. Wurm
- Armin Hornung
Octomap - A probabilistic, flexible, and compact 3D mapping library for robotic systems
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. https://octomap.github.io
See the list of contributors for further authors.
License for octomap: New BSD License
REQUIREMENTS
- For only the octomap library: cmake and a regular build environment (gcc)
- For HTML documentation: doxygen (optional)
- For the viewer octovis: Qt4, OpenGL, QGLViewer (optional)
Skip to WINDOWS for tips on compilation under Windows. You can install all dependencies on Ubuntu by running:
sudo apt-get install cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
(Note: for older releases of Ubuntu you need to exchange the last package name with libqglviewer-qt4-dev)
INSTALLATION
See http://www.ros.org/wiki/octomap if you want to use OctoMap in ROS! There are pre-compiled packages for octomap, octovis, and ROS integration available.
Build the complete project by changing into the “build” directory and running cmake:
mkdir build && cd build
cmake ..
Type make to compile afterwards. This will create all CMake
files cleanly in the build folder (Out-of-source build).
Executables will end up in bin, libraries in lib.
A debug configuration can be created by running:
cmake -DCMAKE_BUILD_TYPE=Debug ..
in build or a different directory (e.g. build-debug).
You can install the library by running make install, though it
is usually not necessary. Be sure to adjust CMAKE_INSTALL_PREFIX before.
The target make test executes the unit tests for the octomap library,
if you are interested in verifying the functionality on your machine.
DOCUMENTATION
The documentation for the latest stable release is available online: https://octomap.github.io/octomap/doc/index.html
You can build the most current HTML-Documentation for your current
source with Doxygen by running make docs
in the build directory. The documentation will end up in
doc/html/index.html in the main directory.
GETTING STARTED
Jump right in and have a look at the example src/octomap/simple_example.cpp
Or start the 3D viewer with bin/octovis
You will find an example scan and binary tree to load in the directory share.
Further examples can be downloaded from the project website.
USE IN OTHER PROJECTS
A CMake-project config is generated for OctoMap which allows OctoMap to be used from other CMake-Projects easily.
Point CMake to your octomap installation so that it finds the file
octomap/lib/cmake/octomap/octomap-config.cmake, e.g. by setting the environment
variable octomap_DIRto the directory containing it.
Then add the following to your CMakeLists.txt:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
In addition to this cmake-module we also provide a pkgconfig-file.
For convenience, there is a minimal example project included in the file share/example-project.tgz
ECLIPSE PROJECT FILES
Eclipse project files can be generated (with some limitations, see: https://gitlab.kitware.com/cmake/community/-/wikis/doc/editors/Eclipse-CDT4-Generator) by running:
cmake -G"Eclipse CDT4 - Unix Makefiles" ..
Import the project (existing project, root is the build folder, do not copy contents) into Eclipse afterwards. For full Eclipse compatibility, it might be necessary to build in the main source directory.
WINDOWS
The octomap library and tools can be compiled and used under Windows although this has not been tested in-depth. Feedback is welcome.
To compile the library you need cmake (https://www.cmake.org) and either MinGW or Visual Studio.
MinGW
- Download the MinGW distribution (http://www.mingw.org)
- Install C++ compiler and add MingGW/bin to your system PATH
- Start the cmake-gui and set the code directory to the
library root (e.g.
/octomap) - Create and set the build directory to, e.g.,
/octomap/build. - Press “Configure” then “Generate”, select the appropriate generator, “MinGW Makefiles”.
-
Start a command shell and “make” the project:
octomap> cd build octomap/build> mingw32-make.exe
As verification, you can run the unit tests using ctest on the command prompt:
octomap/build> ctest.exe
Microsoft Visual Studio (2013 or later recommended)
Last tested with MSVC 2013 and 2015 (Community Edition).
- Start the cmake-gui and set the source code directory to the
library root (e.g.
\octomap) - Create a build directory and set it in CMake (“Where to build the
binaries”), e.g.
\octomap\build. - Press “Configure” then “Generate”, select the appropriate generator, e.g. “Visual Studio 2015”.
This generates a solution file
octomap.slnin the build directory. - Load this file and build the project
ALL_BUILDin Visual Studio.
Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
you can only build octomap by proceeding as described above but in the octomap
subdirectory. This can help you getting started when there are problems with
octovis and Qt4.
As verification, you can run the unit tests in Visual Studio by building the
RUN_TESTS project or by using ctest on the command prompt:
octomap/build> ctest.exe -C Release
CHANGELOG
v1.10.0: 2024-03-19
===================
- CMake: Fix duplicate uninstall target (#406)
- Fix errors with recent compilers and C++17/20 standard (#394)
- Fix ScanGraph.h c++20 compilation error (#398)
- Add smaller than operator for vectors (#330)
- Add vcpkg installation instructions to Readme (#382)
- Fix test dependencies in CMakeLists (#374)
- replace deprecated std::iterator by defining required types (#373)
- octovis: fix issue with saving not showing any dialog (#414)
- octovis: Fix deprecated QString and glext redefinition warning (#375)
- octovis: Declare missing dependency on opengl (#408)
- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
- ROS: Remove ccache for ROS-Industrial CI yml (#413)
- ROS: Remove EOL ROS distros from CI actions
v1.9.8: 2022-05-12
==================
- Also set lowercase octomap_* variables in CMake config (#369)
- Fix float tests and overflow problem in binvox2bt
- Fix to freespace update when bbx is set. (#360)
- Update Doxygen & URLs (#354,#352)
- make setBBXMin/Max parameters const (#348)
- ROS: Remove unused ament_cmake dependency.
- octovis: Implement volume selection features (#339)
- octovis: Link dependencies in octovis-static library (#340)
v1.9.7: 2021-05-03
==================
- Use explicit casting to prevent implicit sign conversion
- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
v1.9.6: 2021-01-23
==================
- Fixed ifstream >> byte with c++17
- strict warnings_as_errors compiler options and corresponding fixes
- octovis: Fixed qmake command to build libQGLViewer with Qt5.
- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
- octovis: use -fPIC with all compilers
v1.9.5: 2020-03-25
==================
- octovis: Update ROS dependencies to Qt5
v1.9.4: 2020-03-15
==================
- octovis: Enable Qt5 by default
- Support added for configurable libdir for packaging
- Increased minimum CMake version to 3.0.2
v1.9.3: 2019-12-26
==================
- Fixed Wpedantic warnings
- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
v1.9.2: 2019-11-28
==================
- Fixed ROS buildfarm failures for octovis
v1.9.1: 2019-11-23
==================
- Improved compatibility with modern compilers and ROS2
v1.9.0: 2017-04-28
==================
- Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)
- dynamicEDT3D templated over OctoMap type (thx to J.V. Gomez)
- Added optimized rendering option and command line option for tree cutoff
in octovis (thx to F. Endres)
- Added optional Qt5 support in octovis (thx to K. Stepanas)
- Improved the generation of config.cmake and version.cmake files, make them
relocatable via CONFIGURE_PACKAGE_CONFIG_FILE (thx to J.V. Gomez)
- Enable rpath on OS X when the CMake version supports it (thx to J. Snape)
- Added version information to *-config.cmake files and exported targets to
CMakeLists.txt (thx to J. Snape)
- Improved CMake build by specifically targeting local includes (thx to
C.-E. Hrabia)
v1.8.1: 2017-01-13
==================
- Disambiguated isnan (C++11)
- Fixed #123: Set root=NULL in clear()
- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
v1.8.0: 2016-04-20
==================
- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
enable safely deriving custom node classes. The following functions were
moved from OcTreeDataNode into OcTreeBaseImpl:
createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
expandNode() -> OcTreeBaseImpl::expandNode(...)
pruneNode() -> OcTreeBaseImpl::pruneNode(...)
hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)
If you use custom derived node classes, you need to adjust your code to the
new API (have a look at ColorOcTree.h as an example). In particular, you
should no longer use the above node member functions in your nodes.
- Extended unit tests for the new memory management
- Added valgrind memcheck suppression file with known ("wanted") leaks due to
StaticMemberInitializer.
- Replaced `unsigned short int` for key values with octomap::key_type
(=uint16_t) and unsigned char with uint8_t in API.
- Cleaned up OcTreeKey and KeyRay API (used internally)
- Reduced unneeded memory for StaticMemberInitializer
- Cleaned up const refs to primitive types in ColorOcTree interface
- Removed deprecated insertScan functions (replaced by insertPointCloud)
- Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
OcTreeBaseSE classes
- octovis: Internal version of libQGLViewer updated to 2.6.3
v1.7.2: 2016-03-26
==================
- BBX iterators fixed for empty trees (point3d version)
- Removed qglviewer.h from some public octovis headers
- Fixed QGLViewer library names for Ubuntu wily and xenial
- Fixed install path in CMakeConfigs
v1.7.1: 2016-01-31
==================
- Fixed #82: Enable uninstall target for complete project
- Fixed #47: Exported CMake library paths for Windows no longer
have the Release/Debug prefix and correctly contain the .lib file
- Fixed #51: IO factory class registry with MSVC. Calling a dummy
function from an OcTree class c'tor enables reading general .ot files
when compiling with MSVC
- Fixed #100: Explicit casts to avoid warnings with MSVC
v1.7.0: 2015-11-27
==================
- BBX iterators fixed for empty trees (thx to F. Boniardi)
- graph2tree tool option for nodes in global frame
- New octree2pointcloud PCL conversion tool (thx to F. Ferri)
- Improved change detection / diff calculation (thx to C. Brew)
- getUnknownLeafCenters now allows queries at a specified depth (thx to
A. Ecins)
- Fixed hashing overflow with clang (thx to L. Riano)
v1.6.9: 2016-01-13
==================
- Maintenance release for ROS:
Added function to determine state of change detection
v1.6.7: 2014-08-31
==================
- FSF address in octovis license header for OctoMap package in Fedora
- Separate build options for octovis and dynamicEDT3D. Thanks to C. Reist!
v1.6.6: 2014-05-26
==================
- Support for SOVERSION in the libraries for better packaging
- Warning for unknown space in castRay() removed (needs to be inferred by
calling code depending on return value and endpoint voxel)
- Marching cubes for ray surface intersection extended
- Fixed QGLViewer include paths
- ScanGraph read error no longer exits the process
v1.6.5: 2014-03-14
==================
- Fix octovis includes for QGLViewer > 2.5
v1.6.4: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.6.3: 2014-01-13
==================
- New function setNodeValue(...) to directly set a node's value (#31)
- New approximate point cloud insertion as fast variant (#39, see flag for
insertPointCloud(...) / new function computeDiscreteUpdate(...)
v1.6.2: 2013-11-26
==================
- Improved OSX 10.9 compatibility (thx to B. Jensen)
- Improved VC++ compatibility (thx to tmdiv)
- New fct. getRayIntersection to get real intersection of raycasting on
voxel (thanks to F-M. de Rainville)
- Fix #54: Quote paths in CMake configs to avoid problems with spaces
- Fix #53: Auto-pruning after updateNode
- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
- octovis now includes QGLViewer 2.4 (Qt5 support)
- octovis now looks for the octomap version of the same number
v1.6.1: 2013-06-19
==================
- New function swapContent to exchange the contents of two octrees (issue #32)
- New normal estimation based on marching cubes (thanks to F-M. de Rainville)
- Fixed octovis edit box affecting small selection ranges
- Fixed compilation with gcc 4.8 and OSX (issues #23 #28)
v1.6.0: 2013-04-05
==================
- Speedup: Pruning is now done only on affected nodes on each call to
updateNode(). You no longer have to call prune(), except when you manually
change nodes or use lazy_update.
- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
- Empty octrees no longer contain a root node (#11)
- Library names in CMake configs are now absolute paths, you should no longer
use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
- graph2tree: pointcloud is transformed in batch before insertion, small changes
in command line options
- octovis: more map editing options, fixed setting nodes to free/occupied (thx
to C. Dornhege)
- Sample data is now in octomap/share
v1.5.7: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.5.6: 2013-06-10
==================
- Fixed compilation with OSX 10.8 (issue #23)
v1.5.5: 2013-05-05
==================
- Fixed compilation of external code against OctoMap with gcc4.8 (issue #28)
v1.5.4: 2013-02-27
==================
- Removed binvox binaries from sources for improved packaging compatibility
(ticket #18). Download from www.cs.princeton.edu/~min/binvox/ instead.
v1.5.3: 2012-12-18
==================
- CMakeConfig now installs into share/octomap instead of lib/cmake/octomap for
better compatibility with ROS
- ROS package.xml removed, will be added in the release process
- added sensor model parameters to graph2tree
- new octree evaluation tool: eval_octree_accuracy and compare_octrees
v1.5.2: 2012-11-02
==================
- Fixed compilation with gcc 4.7 (Ubuntu Quantal)
v1.5.1: 2012-10-16
===================
- Fixed raycasting corner cases, expanded unit tests
- added double precision 3D coordinate conversions (ticket #13)
- Fixed compatibility with MSVC
v1.5.0: 2012-08-28
===================
- dynamicEDT3D, a library for dynamically updatable distance maps by C. Sprunk,
B. Lau, and W. Burgard is now available as part of the OctoMap distribution
- added AbstractOccupancyOcTree interface class, moved binary file IO
- delete functionality added to octrees and nodes
- octovis can now delete nodes inside or outside of a selection box
- operator== and copy constructor for octree nodes and octrees
- key / coordinate conversion functions are now clearly named and documented.
genPos/genKey deprecated in favor of coordToKey, keyToCoord
- added limited-depth search
- deep-copy constructor for octrees and nodes, assignment op. is private
- improved compatibility with MSVC (thx to J. Aguado)
- internal QGLViewer version increased to 2.3.17
- cleanup: functions removed /deprecated in favor or iterator-base node traversal
- cleanup: private members renamed (tree root / node children)
v1.4.3: 2012-10-07
==================
- Fixed raycasting corner cases, expanded unit tests
- iterator_base derives public for boost::filter
v1.4.2: 2012-04-24
===================
- extended graph2tree with more verbose logging / statistics
- fixed conversion from color .ot to .bt in convert_octree
- minor fixes in octovis with color rendering
- fixed octovis compilation with Qt 4.8 (Ubuntu 12.04)
- experimental editing functionality in octovis to clear and fill volumes
v1.4.1: 2012-03-12
===================
- added stack.yaml for release in ROS with catkin
v1.4: 2012-02-22
===================
- New generalized file IO for all kinds of OcTrees to .ot files. The updated
file format requires a conversion of your old bt and ot files with the
"convert_octree" tool. bt files are read and written as before.
To write the general .ot file format use tree.write(...) and read it with
AbstractOcTree::read(...) as factory (dynamic_cast to the correct class
afterwards).
- New ColorOcTree class to store color in addition to occupancy
(e.g. from Kinect), with visualization in octovis
- New map collections of octrees (hierarchical octree maps, experimental)
- Support for Linux, Mac OSX, and Windows
- enhancements and fixes in changeDetection
- minor fixes and unit tests added
v1.2: 2011-08-17
===================
- divided code into a library (octomap) and visualization part (octvis) to
remove dependencies on Qt / OpenGL from library. Both can be built
independently or as a complete package.
- iterators for fast and flexible tree access (check doxygen of OcTreeBase::
iterator) are the preferred way to traverse tree nodes now
- improved speed of map update / scan insertion. A further speedup is possible
when using the "lazy evaluation" flag for batch insertion
- unit tests based on CTest ("make test")
- CMake improvements: new targets "dist" (build package) and "uninstall",
dynamic and static libs are built. CMake package config to ease integration
into other CMake-based systems (install octomap globally, or set the
environment variable octomap_DIR to your OctoMap location
- occupancy and sensor parameters are now a property of the tree and not the
nodes. Use e.g. tree->isNodeOccupied(node) instead of node->isOccupied()
- cleanup of OcTree and OccupancyOcTree: the latter now holds most of the
implementation to ease deriving own tree and node types.
See OcTreeStamped for an example.
- debug output is now muted when not compiling as "Debug", ROS logging levels
are used when compiled in ROS
- experimental change detection in occupancy octrees
- bugfixes and general compatibility improvements
v1.0: 2011-03-15
===================
- cleanup of insertScan methods
- key-based raycasting with pre-allocated KeyRay
- speedup and cleanup of math, inlining
v0.8: 2010-11-16
===================
- improved speed of map update / scan insertion
- improved speed of map queries (isOccupied / castRay)
- key-based computations to improve numerical stability and efficiency
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged octomap at Robotics Stack Exchange
|
|
octomap package from octomap repodynamic_edt_3d octomap octovis |
Package Summary
| Tags | No category tags. |
| Version | 1.10.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/OctoMap/octomap.git |
| VCS Type | git |
| VCS Version | devel |
| Last Updated | 2025-04-20 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
http://octomap.github.io for details.
Additional Links
Maintainers
- Armin Hornung
- Wolfgang Merkt
Authors
- Kai M. Wurm
- Armin Hornung
Octomap - A probabilistic, flexible, and compact 3D mapping library for robotic systems
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. https://octomap.github.io
See the list of contributors for further authors.
License for octomap: New BSD License
REQUIREMENTS
- For only the octomap library: cmake and a regular build environment (gcc)
- For HTML documentation: doxygen (optional)
- For the viewer octovis: Qt4, OpenGL, QGLViewer (optional)
Skip to WINDOWS for tips on compilation under Windows. You can install all dependencies on Ubuntu by running:
sudo apt-get install cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
(Note: for older releases of Ubuntu you need to exchange the last package name with libqglviewer-qt4-dev)
INSTALLATION
See http://www.ros.org/wiki/octomap if you want to use OctoMap in ROS! There are pre-compiled packages for octomap, octovis, and ROS integration available.
Build the complete project by changing into the “build” directory and running cmake:
mkdir build && cd build
cmake ..
Type make to compile afterwards. This will create all CMake
files cleanly in the build folder (Out-of-source build).
Executables will end up in bin, libraries in lib.
A debug configuration can be created by running:
cmake -DCMAKE_BUILD_TYPE=Debug ..
in build or a different directory (e.g. build-debug).
You can install the library by running make install, though it
is usually not necessary. Be sure to adjust CMAKE_INSTALL_PREFIX before.
The target make test executes the unit tests for the octomap library,
if you are interested in verifying the functionality on your machine.
DOCUMENTATION
The documentation for the latest stable release is available online: https://octomap.github.io/octomap/doc/index.html
You can build the most current HTML-Documentation for your current
source with Doxygen by running make docs
in the build directory. The documentation will end up in
doc/html/index.html in the main directory.
GETTING STARTED
Jump right in and have a look at the example src/octomap/simple_example.cpp
Or start the 3D viewer with bin/octovis
You will find an example scan and binary tree to load in the directory share.
Further examples can be downloaded from the project website.
USE IN OTHER PROJECTS
A CMake-project config is generated for OctoMap which allows OctoMap to be used from other CMake-Projects easily.
Point CMake to your octomap installation so that it finds the file
octomap/lib/cmake/octomap/octomap-config.cmake, e.g. by setting the environment
variable octomap_DIRto the directory containing it.
Then add the following to your CMakeLists.txt:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
In addition to this cmake-module we also provide a pkgconfig-file.
For convenience, there is a minimal example project included in the file share/example-project.tgz
ECLIPSE PROJECT FILES
Eclipse project files can be generated (with some limitations, see: https://gitlab.kitware.com/cmake/community/-/wikis/doc/editors/Eclipse-CDT4-Generator) by running:
cmake -G"Eclipse CDT4 - Unix Makefiles" ..
Import the project (existing project, root is the build folder, do not copy contents) into Eclipse afterwards. For full Eclipse compatibility, it might be necessary to build in the main source directory.
WINDOWS
The octomap library and tools can be compiled and used under Windows although this has not been tested in-depth. Feedback is welcome.
To compile the library you need cmake (https://www.cmake.org) and either MinGW or Visual Studio.
MinGW
- Download the MinGW distribution (http://www.mingw.org)
- Install C++ compiler and add MingGW/bin to your system PATH
- Start the cmake-gui and set the code directory to the
library root (e.g.
/octomap) - Create and set the build directory to, e.g.,
/octomap/build. - Press “Configure” then “Generate”, select the appropriate generator, “MinGW Makefiles”.
-
Start a command shell and “make” the project:
octomap> cd build octomap/build> mingw32-make.exe
As verification, you can run the unit tests using ctest on the command prompt:
octomap/build> ctest.exe
Microsoft Visual Studio (2013 or later recommended)
Last tested with MSVC 2013 and 2015 (Community Edition).
- Start the cmake-gui and set the source code directory to the
library root (e.g.
\octomap) - Create a build directory and set it in CMake (“Where to build the
binaries”), e.g.
\octomap\build. - Press “Configure” then “Generate”, select the appropriate generator, e.g. “Visual Studio 2015”.
This generates a solution file
octomap.slnin the build directory. - Load this file and build the project
ALL_BUILDin Visual Studio.
Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
you can only build octomap by proceeding as described above but in the octomap
subdirectory. This can help you getting started when there are problems with
octovis and Qt4.
As verification, you can run the unit tests in Visual Studio by building the
RUN_TESTS project or by using ctest on the command prompt:
octomap/build> ctest.exe -C Release
CHANGELOG
v1.10.0: 2024-03-19
===================
- CMake: Fix duplicate uninstall target (#406)
- Fix errors with recent compilers and C++17/20 standard (#394)
- Fix ScanGraph.h c++20 compilation error (#398)
- Add smaller than operator for vectors (#330)
- Add vcpkg installation instructions to Readme (#382)
- Fix test dependencies in CMakeLists (#374)
- replace deprecated std::iterator by defining required types (#373)
- octovis: fix issue with saving not showing any dialog (#414)
- octovis: Fix deprecated QString and glext redefinition warning (#375)
- octovis: Declare missing dependency on opengl (#408)
- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
- ROS: Remove ccache for ROS-Industrial CI yml (#413)
- ROS: Remove EOL ROS distros from CI actions
v1.9.8: 2022-05-12
==================
- Also set lowercase octomap_* variables in CMake config (#369)
- Fix float tests and overflow problem in binvox2bt
- Fix to freespace update when bbx is set. (#360)
- Update Doxygen & URLs (#354,#352)
- make setBBXMin/Max parameters const (#348)
- ROS: Remove unused ament_cmake dependency.
- octovis: Implement volume selection features (#339)
- octovis: Link dependencies in octovis-static library (#340)
v1.9.7: 2021-05-03
==================
- Use explicit casting to prevent implicit sign conversion
- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
v1.9.6: 2021-01-23
==================
- Fixed ifstream >> byte with c++17
- strict warnings_as_errors compiler options and corresponding fixes
- octovis: Fixed qmake command to build libQGLViewer with Qt5.
- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
- octovis: use -fPIC with all compilers
v1.9.5: 2020-03-25
==================
- octovis: Update ROS dependencies to Qt5
v1.9.4: 2020-03-15
==================
- octovis: Enable Qt5 by default
- Support added for configurable libdir for packaging
- Increased minimum CMake version to 3.0.2
v1.9.3: 2019-12-26
==================
- Fixed Wpedantic warnings
- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
v1.9.2: 2019-11-28
==================
- Fixed ROS buildfarm failures for octovis
v1.9.1: 2019-11-23
==================
- Improved compatibility with modern compilers and ROS2
v1.9.0: 2017-04-28
==================
- Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)
- dynamicEDT3D templated over OctoMap type (thx to J.V. Gomez)
- Added optimized rendering option and command line option for tree cutoff
in octovis (thx to F. Endres)
- Added optional Qt5 support in octovis (thx to K. Stepanas)
- Improved the generation of config.cmake and version.cmake files, make them
relocatable via CONFIGURE_PACKAGE_CONFIG_FILE (thx to J.V. Gomez)
- Enable rpath on OS X when the CMake version supports it (thx to J. Snape)
- Added version information to *-config.cmake files and exported targets to
CMakeLists.txt (thx to J. Snape)
- Improved CMake build by specifically targeting local includes (thx to
C.-E. Hrabia)
v1.8.1: 2017-01-13
==================
- Disambiguated isnan (C++11)
- Fixed #123: Set root=NULL in clear()
- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
v1.8.0: 2016-04-20
==================
- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
enable safely deriving custom node classes. The following functions were
moved from OcTreeDataNode into OcTreeBaseImpl:
createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
expandNode() -> OcTreeBaseImpl::expandNode(...)
pruneNode() -> OcTreeBaseImpl::pruneNode(...)
hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)
If you use custom derived node classes, you need to adjust your code to the
new API (have a look at ColorOcTree.h as an example). In particular, you
should no longer use the above node member functions in your nodes.
- Extended unit tests for the new memory management
- Added valgrind memcheck suppression file with known ("wanted") leaks due to
StaticMemberInitializer.
- Replaced `unsigned short int` for key values with octomap::key_type
(=uint16_t) and unsigned char with uint8_t in API.
- Cleaned up OcTreeKey and KeyRay API (used internally)
- Reduced unneeded memory for StaticMemberInitializer
- Cleaned up const refs to primitive types in ColorOcTree interface
- Removed deprecated insertScan functions (replaced by insertPointCloud)
- Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
OcTreeBaseSE classes
- octovis: Internal version of libQGLViewer updated to 2.6.3
v1.7.2: 2016-03-26
==================
- BBX iterators fixed for empty trees (point3d version)
- Removed qglviewer.h from some public octovis headers
- Fixed QGLViewer library names for Ubuntu wily and xenial
- Fixed install path in CMakeConfigs
v1.7.1: 2016-01-31
==================
- Fixed #82: Enable uninstall target for complete project
- Fixed #47: Exported CMake library paths for Windows no longer
have the Release/Debug prefix and correctly contain the .lib file
- Fixed #51: IO factory class registry with MSVC. Calling a dummy
function from an OcTree class c'tor enables reading general .ot files
when compiling with MSVC
- Fixed #100: Explicit casts to avoid warnings with MSVC
v1.7.0: 2015-11-27
==================
- BBX iterators fixed for empty trees (thx to F. Boniardi)
- graph2tree tool option for nodes in global frame
- New octree2pointcloud PCL conversion tool (thx to F. Ferri)
- Improved change detection / diff calculation (thx to C. Brew)
- getUnknownLeafCenters now allows queries at a specified depth (thx to
A. Ecins)
- Fixed hashing overflow with clang (thx to L. Riano)
v1.6.9: 2016-01-13
==================
- Maintenance release for ROS:
Added function to determine state of change detection
v1.6.7: 2014-08-31
==================
- FSF address in octovis license header for OctoMap package in Fedora
- Separate build options for octovis and dynamicEDT3D. Thanks to C. Reist!
v1.6.6: 2014-05-26
==================
- Support for SOVERSION in the libraries for better packaging
- Warning for unknown space in castRay() removed (needs to be inferred by
calling code depending on return value and endpoint voxel)
- Marching cubes for ray surface intersection extended
- Fixed QGLViewer include paths
- ScanGraph read error no longer exits the process
v1.6.5: 2014-03-14
==================
- Fix octovis includes for QGLViewer > 2.5
v1.6.4: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.6.3: 2014-01-13
==================
- New function setNodeValue(...) to directly set a node's value (#31)
- New approximate point cloud insertion as fast variant (#39, see flag for
insertPointCloud(...) / new function computeDiscreteUpdate(...)
v1.6.2: 2013-11-26
==================
- Improved OSX 10.9 compatibility (thx to B. Jensen)
- Improved VC++ compatibility (thx to tmdiv)
- New fct. getRayIntersection to get real intersection of raycasting on
voxel (thanks to F-M. de Rainville)
- Fix #54: Quote paths in CMake configs to avoid problems with spaces
- Fix #53: Auto-pruning after updateNode
- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
- octovis now includes QGLViewer 2.4 (Qt5 support)
- octovis now looks for the octomap version of the same number
v1.6.1: 2013-06-19
==================
- New function swapContent to exchange the contents of two octrees (issue #32)
- New normal estimation based on marching cubes (thanks to F-M. de Rainville)
- Fixed octovis edit box affecting small selection ranges
- Fixed compilation with gcc 4.8 and OSX (issues #23 #28)
v1.6.0: 2013-04-05
==================
- Speedup: Pruning is now done only on affected nodes on each call to
updateNode(). You no longer have to call prune(), except when you manually
change nodes or use lazy_update.
- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
- Empty octrees no longer contain a root node (#11)
- Library names in CMake configs are now absolute paths, you should no longer
use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
- graph2tree: pointcloud is transformed in batch before insertion, small changes
in command line options
- octovis: more map editing options, fixed setting nodes to free/occupied (thx
to C. Dornhege)
- Sample data is now in octomap/share
v1.5.7: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.5.6: 2013-06-10
==================
- Fixed compilation with OSX 10.8 (issue #23)
v1.5.5: 2013-05-05
==================
- Fixed compilation of external code against OctoMap with gcc4.8 (issue #28)
v1.5.4: 2013-02-27
==================
- Removed binvox binaries from sources for improved packaging compatibility
(ticket #18). Download from www.cs.princeton.edu/~min/binvox/ instead.
v1.5.3: 2012-12-18
==================
- CMakeConfig now installs into share/octomap instead of lib/cmake/octomap for
better compatibility with ROS
- ROS package.xml removed, will be added in the release process
- added sensor model parameters to graph2tree
- new octree evaluation tool: eval_octree_accuracy and compare_octrees
v1.5.2: 2012-11-02
==================
- Fixed compilation with gcc 4.7 (Ubuntu Quantal)
v1.5.1: 2012-10-16
===================
- Fixed raycasting corner cases, expanded unit tests
- added double precision 3D coordinate conversions (ticket #13)
- Fixed compatibility with MSVC
v1.5.0: 2012-08-28
===================
- dynamicEDT3D, a library for dynamically updatable distance maps by C. Sprunk,
B. Lau, and W. Burgard is now available as part of the OctoMap distribution
- added AbstractOccupancyOcTree interface class, moved binary file IO
- delete functionality added to octrees and nodes
- octovis can now delete nodes inside or outside of a selection box
- operator== and copy constructor for octree nodes and octrees
- key / coordinate conversion functions are now clearly named and documented.
genPos/genKey deprecated in favor of coordToKey, keyToCoord
- added limited-depth search
- deep-copy constructor for octrees and nodes, assignment op. is private
- improved compatibility with MSVC (thx to J. Aguado)
- internal QGLViewer version increased to 2.3.17
- cleanup: functions removed /deprecated in favor or iterator-base node traversal
- cleanup: private members renamed (tree root / node children)
v1.4.3: 2012-10-07
==================
- Fixed raycasting corner cases, expanded unit tests
- iterator_base derives public for boost::filter
v1.4.2: 2012-04-24
===================
- extended graph2tree with more verbose logging / statistics
- fixed conversion from color .ot to .bt in convert_octree
- minor fixes in octovis with color rendering
- fixed octovis compilation with Qt 4.8 (Ubuntu 12.04)
- experimental editing functionality in octovis to clear and fill volumes
v1.4.1: 2012-03-12
===================
- added stack.yaml for release in ROS with catkin
v1.4: 2012-02-22
===================
- New generalized file IO for all kinds of OcTrees to .ot files. The updated
file format requires a conversion of your old bt and ot files with the
"convert_octree" tool. bt files are read and written as before.
To write the general .ot file format use tree.write(...) and read it with
AbstractOcTree::read(...) as factory (dynamic_cast to the correct class
afterwards).
- New ColorOcTree class to store color in addition to occupancy
(e.g. from Kinect), with visualization in octovis
- New map collections of octrees (hierarchical octree maps, experimental)
- Support for Linux, Mac OSX, and Windows
- enhancements and fixes in changeDetection
- minor fixes and unit tests added
v1.2: 2011-08-17
===================
- divided code into a library (octomap) and visualization part (octvis) to
remove dependencies on Qt / OpenGL from library. Both can be built
independently or as a complete package.
- iterators for fast and flexible tree access (check doxygen of OcTreeBase::
iterator) are the preferred way to traverse tree nodes now
- improved speed of map update / scan insertion. A further speedup is possible
when using the "lazy evaluation" flag for batch insertion
- unit tests based on CTest ("make test")
- CMake improvements: new targets "dist" (build package) and "uninstall",
dynamic and static libs are built. CMake package config to ease integration
into other CMake-based systems (install octomap globally, or set the
environment variable octomap_DIR to your OctoMap location
- occupancy and sensor parameters are now a property of the tree and not the
nodes. Use e.g. tree->isNodeOccupied(node) instead of node->isOccupied()
- cleanup of OcTree and OccupancyOcTree: the latter now holds most of the
implementation to ease deriving own tree and node types.
See OcTreeStamped for an example.
- debug output is now muted when not compiling as "Debug", ROS logging levels
are used when compiled in ROS
- experimental change detection in occupancy octrees
- bugfixes and general compatibility improvements
v1.0: 2011-03-15
===================
- cleanup of insertScan methods
- key-based raycasting with pre-allocated KeyRay
- speedup and cleanup of math, inlining
v0.8: 2010-11-16
===================
- improved speed of map update / scan insertion
- improved speed of map queries (isOccupied / castRay)
- key-based computations to improve numerical stability and efficiency
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged octomap at Robotics Stack Exchange
|
|
octomap package from octomap repodynamic_edt_3d octomap octovis |
Package Summary
| Tags | No category tags. |
| Version | 1.10.0 |
| License | BSD |
| Build type | CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/OctoMap/octomap.git |
| VCS Type | git |
| VCS Version | devel |
| Last Updated | 2025-04-20 |
| Dev Status | MAINTAINED |
| CI status | Continuous Integration : 0 / 0 |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
http://octomap.github.io for details.
Additional Links
Maintainers
- Armin Hornung
- Wolfgang Merkt
Authors
- Kai M. Wurm
- Armin Hornung
Octomap - A probabilistic, flexible, and compact 3D mapping library for robotic systems
Authors: Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2013. https://octomap.github.io
See the list of contributors for further authors.
License for octomap: New BSD License
REQUIREMENTS
- For only the octomap library: cmake and a regular build environment (gcc)
- For HTML documentation: doxygen (optional)
- For the viewer octovis: Qt4, OpenGL, QGLViewer (optional)
Skip to WINDOWS for tips on compilation under Windows. You can install all dependencies on Ubuntu by running:
sudo apt-get install cmake doxygen libqt4-dev libqt4-opengl-dev libqglviewer-dev-qt4
(Note: for older releases of Ubuntu you need to exchange the last package name with libqglviewer-qt4-dev)
INSTALLATION
See http://www.ros.org/wiki/octomap if you want to use OctoMap in ROS! There are pre-compiled packages for octomap, octovis, and ROS integration available.
Build the complete project by changing into the “build” directory and running cmake:
mkdir build && cd build
cmake ..
Type make to compile afterwards. This will create all CMake
files cleanly in the build folder (Out-of-source build).
Executables will end up in bin, libraries in lib.
A debug configuration can be created by running:
cmake -DCMAKE_BUILD_TYPE=Debug ..
in build or a different directory (e.g. build-debug).
You can install the library by running make install, though it
is usually not necessary. Be sure to adjust CMAKE_INSTALL_PREFIX before.
The target make test executes the unit tests for the octomap library,
if you are interested in verifying the functionality on your machine.
DOCUMENTATION
The documentation for the latest stable release is available online: https://octomap.github.io/octomap/doc/index.html
You can build the most current HTML-Documentation for your current
source with Doxygen by running make docs
in the build directory. The documentation will end up in
doc/html/index.html in the main directory.
GETTING STARTED
Jump right in and have a look at the example src/octomap/simple_example.cpp
Or start the 3D viewer with bin/octovis
You will find an example scan and binary tree to load in the directory share.
Further examples can be downloaded from the project website.
USE IN OTHER PROJECTS
A CMake-project config is generated for OctoMap which allows OctoMap to be used from other CMake-Projects easily.
Point CMake to your octomap installation so that it finds the file
octomap/lib/cmake/octomap/octomap-config.cmake, e.g. by setting the environment
variable octomap_DIRto the directory containing it.
Then add the following to your CMakeLists.txt:
find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
link_libraries(${OCTOMAP_LIBRARIES})
In addition to this cmake-module we also provide a pkgconfig-file.
For convenience, there is a minimal example project included in the file share/example-project.tgz
ECLIPSE PROJECT FILES
Eclipse project files can be generated (with some limitations, see: https://gitlab.kitware.com/cmake/community/-/wikis/doc/editors/Eclipse-CDT4-Generator) by running:
cmake -G"Eclipse CDT4 - Unix Makefiles" ..
Import the project (existing project, root is the build folder, do not copy contents) into Eclipse afterwards. For full Eclipse compatibility, it might be necessary to build in the main source directory.
WINDOWS
The octomap library and tools can be compiled and used under Windows although this has not been tested in-depth. Feedback is welcome.
To compile the library you need cmake (https://www.cmake.org) and either MinGW or Visual Studio.
MinGW
- Download the MinGW distribution (http://www.mingw.org)
- Install C++ compiler and add MingGW/bin to your system PATH
- Start the cmake-gui and set the code directory to the
library root (e.g.
/octomap) - Create and set the build directory to, e.g.,
/octomap/build. - Press “Configure” then “Generate”, select the appropriate generator, “MinGW Makefiles”.
-
Start a command shell and “make” the project:
octomap> cd build octomap/build> mingw32-make.exe
As verification, you can run the unit tests using ctest on the command prompt:
octomap/build> ctest.exe
Microsoft Visual Studio (2013 or later recommended)
Last tested with MSVC 2013 and 2015 (Community Edition).
- Start the cmake-gui and set the source code directory to the
library root (e.g.
\octomap) - Create a build directory and set it in CMake (“Where to build the
binaries”), e.g.
\octomap\build. - Press “Configure” then “Generate”, select the appropriate generator, e.g. “Visual Studio 2015”.
This generates a solution file
octomap.slnin the build directory. - Load this file and build the project
ALL_BUILDin Visual Studio.
Instead of building the complete distribution (octomap, octovis, and dynamicEDT3D)
you can only build octomap by proceeding as described above but in the octomap
subdirectory. This can help you getting started when there are problems with
octovis and Qt4.
As verification, you can run the unit tests in Visual Studio by building the
RUN_TESTS project or by using ctest on the command prompt:
octomap/build> ctest.exe -C Release
CHANGELOG
v1.10.0: 2024-03-19
===================
- CMake: Fix duplicate uninstall target (#406)
- Fix errors with recent compilers and C++17/20 standard (#394)
- Fix ScanGraph.h c++20 compilation error (#398)
- Add smaller than operator for vectors (#330)
- Add vcpkg installation instructions to Readme (#382)
- Fix test dependencies in CMakeLists (#374)
- replace deprecated std::iterator by defining required types (#373)
- octovis: fix issue with saving not showing any dialog (#414)
- octovis: Fix deprecated QString and glext redefinition warning (#375)
- octovis: Declare missing dependency on opengl (#408)
- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
- ROS: Remove ccache for ROS-Industrial CI yml (#413)
- ROS: Remove EOL ROS distros from CI actions
v1.9.8: 2022-05-12
==================
- Also set lowercase octomap_* variables in CMake config (#369)
- Fix float tests and overflow problem in binvox2bt
- Fix to freespace update when bbx is set. (#360)
- Update Doxygen & URLs (#354,#352)
- make setBBXMin/Max parameters const (#348)
- ROS: Remove unused ament_cmake dependency.
- octovis: Implement volume selection features (#339)
- octovis: Link dependencies in octovis-static library (#340)
v1.9.7: 2021-05-03
==================
- Use explicit casting to prevent implicit sign conversion
- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
v1.9.6: 2021-01-23
==================
- Fixed ifstream >> byte with c++17
- strict warnings_as_errors compiler options and corresponding fixes
- octovis: Fixed qmake command to build libQGLViewer with Qt5.
- octovis: adapted to be compatible with libQGLViewer >= 2.7.0
- octovis: use -fPIC with all compilers
v1.9.5: 2020-03-25
==================
- octovis: Update ROS dependencies to Qt5
v1.9.4: 2020-03-15
==================
- octovis: Enable Qt5 by default
- Support added for configurable libdir for packaging
- Increased minimum CMake version to 3.0.2
v1.9.3: 2019-12-26
==================
- Fixed Wpedantic warnings
- Removed problematic INSTALL_NAME_DIR (maxOS workaround)
v1.9.2: 2019-11-28
==================
- Fixed ROS buildfarm failures for octovis
v1.9.1: 2019-11-23
==================
- Improved compatibility with modern compilers and ROS2
v1.9.0: 2017-04-28
==================
- Fixed getUnknownLeafCenters to return true leaf centers (thx to A. Ecins)
- dynamicEDT3D templated over OctoMap type (thx to J.V. Gomez)
- Added optimized rendering option and command line option for tree cutoff
in octovis (thx to F. Endres)
- Added optional Qt5 support in octovis (thx to K. Stepanas)
- Improved the generation of config.cmake and version.cmake files, make them
relocatable via CONFIGURE_PACKAGE_CONFIG_FILE (thx to J.V. Gomez)
- Enable rpath on OS X when the CMake version supports it (thx to J. Snape)
- Added version information to *-config.cmake files and exported targets to
CMakeLists.txt (thx to J. Snape)
- Improved CMake build by specifically targeting local includes (thx to
C.-E. Hrabia)
v1.8.1: 2017-01-13
==================
- Disambiguated isnan (C++11)
- Fixed #123: Set root=NULL in clear()
- Fixed #131: Portable binary read/write of Pointcloud and ScanGraph (uint32_t)
v1.8.0: 2016-04-20
==================
- Fixed #98: The tree structure in memory is now maintained in OcTreeBaseImpl to
enable safely deriving custom node classes. The following functions were
moved from OcTreeDataNode into OcTreeBaseImpl:
createChild(...) -> OcTreeBaseImpl::createNodeChild(...)
getChild(...) -> OcTreeBaseImpl::getNodeChild(...)
expandNode() -> OcTreeBaseImpl::expandNode(...)
pruneNode() -> OcTreeBaseImpl::pruneNode(...)
hasChildren() -> OcTreeBaseImpl::nodeHasChildren(...)
childExists(...) -> OcTreeBaseImpl::nodeChildExist(...)
collapsible() -> OcTreeBaseImpl::isNodeCollapsible(...)
If you use custom derived node classes, you need to adjust your code to the
new API (have a look at ColorOcTree.h as an example). In particular, you
should no longer use the above node member functions in your nodes.
- Extended unit tests for the new memory management
- Added valgrind memcheck suppression file with known ("wanted") leaks due to
StaticMemberInitializer.
- Replaced `unsigned short int` for key values with octomap::key_type
(=uint16_t) and unsigned char with uint8_t in API.
- Cleaned up OcTreeKey and KeyRay API (used internally)
- Reduced unneeded memory for StaticMemberInitializer
- Cleaned up const refs to primitive types in ColorOcTree interface
- Removed deprecated insertScan functions (replaced by insertPointCloud)
- Removed no longer used ROS logging macros and unmaintained OcTreeLUT,
OcTreeBaseSE classes
- octovis: Internal version of libQGLViewer updated to 2.6.3
v1.7.2: 2016-03-26
==================
- BBX iterators fixed for empty trees (point3d version)
- Removed qglviewer.h from some public octovis headers
- Fixed QGLViewer library names for Ubuntu wily and xenial
- Fixed install path in CMakeConfigs
v1.7.1: 2016-01-31
==================
- Fixed #82: Enable uninstall target for complete project
- Fixed #47: Exported CMake library paths for Windows no longer
have the Release/Debug prefix and correctly contain the .lib file
- Fixed #51: IO factory class registry with MSVC. Calling a dummy
function from an OcTree class c'tor enables reading general .ot files
when compiling with MSVC
- Fixed #100: Explicit casts to avoid warnings with MSVC
v1.7.0: 2015-11-27
==================
- BBX iterators fixed for empty trees (thx to F. Boniardi)
- graph2tree tool option for nodes in global frame
- New octree2pointcloud PCL conversion tool (thx to F. Ferri)
- Improved change detection / diff calculation (thx to C. Brew)
- getUnknownLeafCenters now allows queries at a specified depth (thx to
A. Ecins)
- Fixed hashing overflow with clang (thx to L. Riano)
v1.6.9: 2016-01-13
==================
- Maintenance release for ROS:
Added function to determine state of change detection
v1.6.7: 2014-08-31
==================
- FSF address in octovis license header for OctoMap package in Fedora
- Separate build options for octovis and dynamicEDT3D. Thanks to C. Reist!
v1.6.6: 2014-05-26
==================
- Support for SOVERSION in the libraries for better packaging
- Warning for unknown space in castRay() removed (needs to be inferred by
calling code depending on return value and endpoint voxel)
- Marching cubes for ray surface intersection extended
- Fixed QGLViewer include paths
- ScanGraph read error no longer exits the process
v1.6.5: 2014-03-14
==================
- Fix octovis includes for QGLViewer > 2.5
v1.6.4: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.6.3: 2014-01-13
==================
- New function setNodeValue(...) to directly set a node's value (#31)
- New approximate point cloud insertion as fast variant (#39, see flag for
insertPointCloud(...) / new function computeDiscreteUpdate(...)
v1.6.2: 2013-11-26
==================
- Improved OSX 10.9 compatibility (thx to B. Jensen)
- Improved VC++ compatibility (thx to tmdiv)
- New fct. getRayIntersection to get real intersection of raycasting on
voxel (thanks to F-M. de Rainville)
- Fix #54: Quote paths in CMake configs to avoid problems with spaces
- Fix #53: Auto-pruning after updateNode
- Fix #44: CMAKE_SHARED_LIBRARY_SUFFIX in CMakeConfig (Win / Mac compatibility)
- octovis now includes QGLViewer 2.4 (Qt5 support)
- octovis now looks for the octomap version of the same number
v1.6.1: 2013-06-19
==================
- New function swapContent to exchange the contents of two octrees (issue #32)
- New normal estimation based on marching cubes (thanks to F-M. de Rainville)
- Fixed octovis edit box affecting small selection ranges
- Fixed compilation with gcc 4.8 and OSX (issues #23 #28)
v1.6.0: 2013-04-05
==================
- Speedup: Pruning is now done only on affected nodes on each call to
updateNode(). You no longer have to call prune(), except when you manually
change nodes or use lazy_update.
- insertScan() renamed to insertPointCloud(), removed parameter "pruning"
- insertScanNaive() renamed to insertScanRays(), removed parameter "pruning"
- insertScan() / insertPointCloud() / insertScanRays() can now be parallelized
with OpenMP, currently disabled by default. Enable with CMake flag OCTOMAP_OMP
- Empty octrees no longer contain a root node (#11)
- Library names in CMake configs are now absolute paths, you should no longer
use OCTOMAP_LIBRARY_DIRS with FIND_PACKAGE (#14)
- graph2tree: pointcloud is transformed in batch before insertion, small changes
in command line options
- octovis: more map editing options, fixed setting nodes to free/occupied (thx
to C. Dornhege)
- Sample data is now in octomap/share
v1.5.7: 2014-01-20
==================
- Fix for raycasting termination condition in computeRayKeys() (affects
insertScan / insertRay). Thanks to C. Sprunk!
v1.5.6: 2013-06-10
==================
- Fixed compilation with OSX 10.8 (issue #23)
v1.5.5: 2013-05-05
==================
- Fixed compilation of external code against OctoMap with gcc4.8 (issue #28)
v1.5.4: 2013-02-27
==================
- Removed binvox binaries from sources for improved packaging compatibility
(ticket #18). Download from www.cs.princeton.edu/~min/binvox/ instead.
v1.5.3: 2012-12-18
==================
- CMakeConfig now installs into share/octomap instead of lib/cmake/octomap for
better compatibility with ROS
- ROS package.xml removed, will be added in the release process
- added sensor model parameters to graph2tree
- new octree evaluation tool: eval_octree_accuracy and compare_octrees
v1.5.2: 2012-11-02
==================
- Fixed compilation with gcc 4.7 (Ubuntu Quantal)
v1.5.1: 2012-10-16
===================
- Fixed raycasting corner cases, expanded unit tests
- added double precision 3D coordinate conversions (ticket #13)
- Fixed compatibility with MSVC
v1.5.0: 2012-08-28
===================
- dynamicEDT3D, a library for dynamically updatable distance maps by C. Sprunk,
B. Lau, and W. Burgard is now available as part of the OctoMap distribution
- added AbstractOccupancyOcTree interface class, moved binary file IO
- delete functionality added to octrees and nodes
- octovis can now delete nodes inside or outside of a selection box
- operator== and copy constructor for octree nodes and octrees
- key / coordinate conversion functions are now clearly named and documented.
genPos/genKey deprecated in favor of coordToKey, keyToCoord
- added limited-depth search
- deep-copy constructor for octrees and nodes, assignment op. is private
- improved compatibility with MSVC (thx to J. Aguado)
- internal QGLViewer version increased to 2.3.17
- cleanup: functions removed /deprecated in favor or iterator-base node traversal
- cleanup: private members renamed (tree root / node children)
v1.4.3: 2012-10-07
==================
- Fixed raycasting corner cases, expanded unit tests
- iterator_base derives public for boost::filter
v1.4.2: 2012-04-24
===================
- extended graph2tree with more verbose logging / statistics
- fixed conversion from color .ot to .bt in convert_octree
- minor fixes in octovis with color rendering
- fixed octovis compilation with Qt 4.8 (Ubuntu 12.04)
- experimental editing functionality in octovis to clear and fill volumes
v1.4.1: 2012-03-12
===================
- added stack.yaml for release in ROS with catkin
v1.4: 2012-02-22
===================
- New generalized file IO for all kinds of OcTrees to .ot files. The updated
file format requires a conversion of your old bt and ot files with the
"convert_octree" tool. bt files are read and written as before.
To write the general .ot file format use tree.write(...) and read it with
AbstractOcTree::read(...) as factory (dynamic_cast to the correct class
afterwards).
- New ColorOcTree class to store color in addition to occupancy
(e.g. from Kinect), with visualization in octovis
- New map collections of octrees (hierarchical octree maps, experimental)
- Support for Linux, Mac OSX, and Windows
- enhancements and fixes in changeDetection
- minor fixes and unit tests added
v1.2: 2011-08-17
===================
- divided code into a library (octomap) and visualization part (octvis) to
remove dependencies on Qt / OpenGL from library. Both can be built
independently or as a complete package.
- iterators for fast and flexible tree access (check doxygen of OcTreeBase::
iterator) are the preferred way to traverse tree nodes now
- improved speed of map update / scan insertion. A further speedup is possible
when using the "lazy evaluation" flag for batch insertion
- unit tests based on CTest ("make test")
- CMake improvements: new targets "dist" (build package) and "uninstall",
dynamic and static libs are built. CMake package config to ease integration
into other CMake-based systems (install octomap globally, or set the
environment variable octomap_DIR to your OctoMap location
- occupancy and sensor parameters are now a property of the tree and not the
nodes. Use e.g. tree->isNodeOccupied(node) instead of node->isOccupied()
- cleanup of OcTree and OccupancyOcTree: the latter now holds most of the
implementation to ease deriving own tree and node types.
See OcTreeStamped for an example.
- debug output is now muted when not compiling as "Debug", ROS logging levels
are used when compiled in ROS
- experimental change detection in occupancy octrees
- bugfixes and general compatibility improvements
v1.0: 2011-03-15
===================
- cleanup of insertScan methods
- key-based raycasting with pre-allocated KeyRay
- speedup and cleanup of math, inlining
v0.8: 2010-11-16
===================
- improved speed of map update / scan insertion
- improved speed of map queries (isOccupied / castRay)
- key-based computations to improve numerical stability and efficiency
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