A tutorial about octomap. Please check my blog for detail: cnblogs.com/gaoxiang12
Installation:
Dependency:
opencv - sudo apt-get install libopencv-dev
boost - sudo apt-get install libboost-all-dev
pcl - follow instructions on http://pointclouds.org/
octomap - https://github.com/OctoMap/octomap
Build: change the octomap path in cmake_modules/octomap-config.cmake ./build.sh
Usage: bin/pcd2octomap bin/pcd2colorOctomap bin/joinmap
Example: bin/pcd2octomap data/sample.pcd data/sample.bt -convert the sample pcd file to octomap file bin/pcd2colorOctomap data/sample.pcd data/sample.bt -convert the sample pcd file to color octomap file bin/joinmap - join the maps defined in data/keyframe.txt
