Octomap

Octomap

Github: https://github.com/OctoMap/octomap.git
Official: http://octomap.github.io/
API 文档：http://octomap.github.io/octomap/doc/
SLAM拾萃(1)：octomap: https://www.cnblogs.com/gaoxiang12/p/5041142.html
gaoxiang12/octomap_tutor: https://github.com/gaoxiang12/octomap_tutor
Compilation and Installation of OctoMap: https://github.com/OctoMap/octomap/wiki/Compilation-and-Installation-of-OctoMap

Run

Example:

bin/octovis octomap/share/data/geb079.bt

.ot for color octree

OctoMap in ROS

Install:

sudo apt-get install ros-kinetic-octomap

CMakeLists.txt

find_package(octomap REQUIRED)
include_directories(${OCTOMAP_INCLUDE_DIRS})
target_link_libraries(${OCTOMAP_LIBRARIES})
(Add link_directories(${OCTOMAP_LIBRARY_DIRS}) only if required - usually it's not needed).

Finally, add to your package.xml:

<build_depend>octomap</build_depend>
<run_depend>octomap</run_depend>

Paper

Paper: OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees

Good Blogs

1. Octomap使用总结, CSDN - DJ_Dreamaker

由于log-odd与概率值之间可以相互转化，因此在工程实现时octomap八叉树节点类OcTreeNode存储的数值是log-odd数值，并不是概率值。

这里简单的提一下Octomap工程实现时与八叉树节点概率更新相关的几个重要参数设置函数。

setProHit/setProMiss。这两个函数决定了inverse sensor model的log-odd概率更新的具体参数，默认情况下占据三维体元被击中（Hit）的概率值为0.7对应的log-odd为0.85，空闲体元被穿越（traverse）的概率值为0.4对应的log-odd为-0.4。可以调用getProHit/getProHitLog、getProMiss/getProMissLog查看默认的参数设定。

setClampingThresMax/setClampingThresMin。这两个函数决定了一个体元执行log-odd更新的阈值范围。也就是说某一个占据体元的概率值爬升到0.97（对应的log-odd为3.5）或者空闲体元的概率值下降到0.12（对应的log-odd为-2）便不再进行logodd更新计算。可以调用getClampingThresMax/getClampingThresMaxLog、getClampingThresMin/getClampingThresMinLog查看默认的参数设定。

setOccupancyThres。这个函数定义了octomap判定某一个体元属于占据状态的阈值（isNodeOccupied函数），默认是0.5，一般情况下我们将其设定为0.7。

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