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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](https://github.com/ahornung).
See the [list of contributors](octomap/AUTHORS.txt) for further authors.
License:
* octomap: [New BSD License](octomap/LICENSE.txt)
* octovis and related libraries: [GPL](octovis/LICENSE.txt)
Download the latest releases:
https://github.com/octomap/octomap/releases
API documentation:
https://octomap.github.io/octomap/doc/
Build status:
[](https://travis-ci.org/OctoMap/octomap)
Report bugs and request features in our tracker:
https://github.com/OctoMap/octomap/issues
A list of changes is available in the [octomap changelog](octomap/CHANGELOG.txt)
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](octomap/README.md) and [octovis/README.md](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](https://github.com/Microsoft/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 If the version is out of date, please [create an issue or pull request](https://github.com/Microsoft/vcpkg) on the vcpkg repository.
See [octomap README](octomap/README.md) and [octovis README](octovis/README.md) for further
details and hints on compiling, especially under Windows.
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