OctoMap - An Efficient Probabilistic 3D Mapping Framework Based on Octrees.

http://octomap.github.io

Originally developed by Kai M. Wurm and Armin Hornung, University of Freiburg, Copyright (C) 2009-2014. Currently maintained by Armin Hornung. See the list of contributors for further authors.

License:

• octomap: New BSD License
• octovis and related libraries: GPL

Download the latest releases: https://github.com/octomap/octomap/releases

API documentation: https://octomap.github.io/octomap/doc/

Build status:

Report bugs and request features in our tracker: https://github.com/OctoMap/octomap/issues

A list of changes is available in the octomap changelog

OVERVIEW

OctoMap consists of two separate libraries each in its own subfolder: octomap, the actual library, and octovis, our visualization libraries and tools. This README provides an overview of both, for details on compiling each please see octomap/README.md and octovis/README.md respectively. See http://www.ros.org/wiki/octomap and http://www.ros.org/wiki/octovis if you want to use OctoMap in ROS; there are pre-compiled packages available.

You can build each library separately with CMake by running it from the subdirectories, or build octomap and octovis together from this top-level directory. E.g., to only compile the library, run:

cd octomap
mkdir build
cd build
cmake ..
make

To compile the complete package, run:

cd build
cmake ..
make

Binaries and libs will end up in the directories bin and lib of the top-level directory where you started the build.

Alternatively, you can build and install octomap using vcpkg dependency manager:

git clone https://github.com/Microsoft/vcpkg.git
cd vcpkg
./bootstrap-vcpkg.sh
./vcpkg integrate install
./vcpkg install octomap

The octomap port in vcpkg is kept up to date by Microsoft team members and community contributors. If the version is out of date, please create an issue or pull request on the vcpkg repository.

See octomap README and octovis README for further details and hints on compiling, especially under Windows.