octomap_tutor

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