octomap

3D probabilistic mapping framework using octree data structures

brewmacoslinux

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Efficient probabilistic 3D mapping framework based on octrees

octomapoctomap_serveroctomap_client

Convert a point cloud file to OctoMap format$ octomap_convert input.pcd output.ot

Display and analyze an octree map file$ octomap_display output.ot

Generate octree from sensor data with specified resolution$ octomap_server --resolution 0.05 sensor_data.pcd