octomap入门学习

从今天开始学习octomap，对于octomap还是一无所知的状态，一起来学习一下。

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1 What is octomap？

• The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++ particularly suited for robotics. 来源： https://octomap.github.io/

octomap库运用了3维网格绘制填充技术，专为机器人学提供了数据结构和绘图算法。

• OctoMap, an open source framework for three-dimensional mapping.  来源：https://link.springer.com/article/10.1007/s10514-012-9321-0   conclusion part

octomap是一种开源三维绘图框架。

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2 Why octomap？

• Full 3D model. The map is able to model arbitrary environments without prior assumptions about it. The repres