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.

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