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<!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
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<html>
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<head>
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<meta http-equiv="Content-Type" content="text/html; charset=iso-8859-1">
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<meta name="author" content="Kai M. Wurm, Armin Hornung">
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<title>OctoMap - 3D occupancy mapping</title>
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<link rel="stylesheet" href="style.css" type="text/css">
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<script type="text/javascript" src="shadowbox/shadowbox.js"></script>
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<script type="text/javascript">
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Shadowbox.init({ language: 'en', players: ['img', 'html', 'iframe', 'qt', 'wmp', 'swf', 'flv'] });
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</script>
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</head>
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<body>
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<div id="main">
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<H1>OctoMap</H1>
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<h2>An Efficient Probabilistic 3D Mapping Framework Based on Octrees</h2>
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<p>
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The <a href="https://sourceforge.net/projects/octomap/">OctoMap library</a>
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implements a 3D occupancy grid mapping
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approach, providing data structures and mapping algorithms in C++. The map
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implementation is based on an octree and is designed to meet the following
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requirements:
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</p>
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<ul>
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<li>
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<b>Full 3D model.</b> The map is able to model arbitrary environments
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without prior assumptions about it. The representation models occupied
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areas as well as free space. If no information is available about an
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area (commonly denoted as <i>unknown areas</i>), this information is
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encoded as well. While the distinction between free and occupied
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space is essential for safe robot navigation, information about
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unknown areas is important, e.g., for autonomous exploration of an
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environment.
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</li>
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<li>
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<b>Updatable.</b> It is possible to add new information or sensor
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readings at any time. Modeling and updating is done in
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a <i>probabilistic</i> fashion. This accounts for sensor noise or
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measurements which result from dynamic changes in the environment,
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e.g., because of dynamic objects. Furthermore, multiple robots are
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able to contribute to the same map and a previously recorded map is
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extendable when new areas are explored.
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</li>
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<li>
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<b>Flexible.</b> The extent of the map does not have to be known in
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advance. Instead, the map is dynamically expanded as needed. The map
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is multi-resolution so that, for instance, a high-level planner is
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able to use a coarse map, while a local planner may operate using a
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fine resolution. This also allows for efficient visualizations which
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scale from coarse overviews to detailed close-up views.
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</li>
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<li>
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<b>Compact.</b> The map is stored efficiently, both in memory and on
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disk. It is possible to generate compressed files for later usage or
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convenient exchange between robots even under bandwidth constraints.
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</li>
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</ul>
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<p>
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Detailed information about the implemented approach can be found in the <a href="http://ais.informatik.uni-freiburg.de/publications/papers/wurm10octomap.pdf">OctoMap paper (pdf)</a>.
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More information about this project is availble at the <a href="https://sourceforge.net/projects/octomap/">
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<img src="http://sflogo.sourceforge.net/sflogo.php?group_id=277757&amp;type=10" width="80" height="15" alt="SF logo">&nbsp;Sourceforge project page</a>.
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</p>
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<p>
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The OctoMap library is available as a <i>self-contained
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source distribution</i> for Linux (recommended), Mac OS and Windows.
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It was developed by <a href="http://www.informatik.uni-freiburg.de/~wurm">Kai
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M. Wurm</a> and <a href="http://www.informatik.uni-freiburg.de/~hornunga">Armin
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Hornung</a>, and is currently maintained by Armin Hornung. Feel free to contact us with questions and issues. To report bugs
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or request features, best use our tracker at <a href="https://sourceforge.net/apps/trac/octomap">https://sourceforge.net/apps/trac/octomap</a>.
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We would like to thank
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Stefan O&szlig;wald, J&ouml;rg M&uuml;ller, Radu Rusu, Raphael Schmitt, and Christoph Sprunk for their contrbutions.
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</p>
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<h3>Example Projects</h3>
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<table border=0 width=680 class="youtube">
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<tr> <!-- mapping -->
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<td class="youtube"><a href="http://www.youtube.com/v/7ZsxJzR14rc&amp;rel=1&amp;autoplay=1" rel="shadowbox;width=810;height=480"> <!-- campus map -->
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<!-- <img src="http://img.youtube.com/vi/7ZsxJzR14rc/2.jpg"> -->
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<img src="vi/campus.jpg" alt="Video thumb">
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</a></td>
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<td class="youtube"><a href="http://www.youtube.com/v/O2TDNJuHMKo&amp;rel=1&amp;autoplay=1" rel="shadowbox;width=810;height=480"> <!-- fr 079 -->
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<!-- <img src="http://img.youtube.com/vi/O2TDNJuHMKo/2.jpg"> -->
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<img src="vi/079.jpg" alt="Video thumb">
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</a></td>
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<td class="youtube"><a href="http://www.youtube.com/v/yp0f8-AKvDU&amp;rel=1&amp;autoplay=1" rel="shadowbox;width=640;height=510"> <!-- object mapping -->
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<img src="http://img.youtube.com/vi/yp0f8-AKvDU/3.jpg" alt="Video thumb">
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</a></td>
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<!-- willow garage -->
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<td class="youtube"><a href="http://www.youtube.com/v/uiIi2rSKWAU&amp;rel=1&amp;autoplay=1" rel="shadowbox;width=640;height=480"> <!-- nao localization -->
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<img src="http://img.youtube.com/vi/uiIi2rSKWAU/2.jpg" alt="Video thumb">
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</a></td>
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<td class="youtube"><a href="http://www.youtube.com/v/9f32FmbtHCs&amp;rel=1&amp;autoplay=1" rel="shadowbox;width=640;height=480"> <!-- color octomap demo -->
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<!-- <img src="http://img.youtube.com/vi/9f32FmbtHCs/2.jpg"> -->
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<img src="vi/cot.jpg" alt="Video thumb">
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</a></td>
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</tr>
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<tr>
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<td class="youtube"><a href="http://www.youtube.com/v/sot6gjj3SzU&amp;rel=1&amp;autoplay=1" rel="shadowbox;width=810;height=480"> <!-- willow 3d nav -->
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<img src="vi/3dnav.jpg" alt="Video thumb">
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<!-- <img src="http://img.youtube.com/vi/sot6gjj3SzU/3.jpg"> -->
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</a></td>
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<td class="youtube">
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<!-- <a href="http://www.youtube.com/v/hHF3pRWiP7o&rel=1&autoplay=1" rel="shadowbox;width=810;height=480"> -->
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<a href="http://www.youtube.com/v/25nnJ64ED5Q&amp;rel=1&amp;autoplay=1" rel="shadowbox;width=810;height=480"> <!-- willow octomap2 -->
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<!-- <img src="http://img.youtube.com/vi/hHF3pRWiP7o/3.jpg"> -->
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<img src="vi/octomap2.jpg" alt="Video thumb">
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</a></td>
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<td class="youtube"><a href="http://www.youtube.com/v/l6u06j_VsXc&amp;rel=1&amp;autoplay=1" rel="shadowbox;width=810;height=480"> <!-- willow collision_octomap -->
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<!-- <img src="http://img.youtube.com/vi/l6u06j_VsXc/2.jpg"> -->
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<img src="vi/coll.jpg" alt="Video thumb">
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</a></td>
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<!-- other freiburg projects -->
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<td class="youtube"><a href="http://www.youtube.com/v/5o3ABX7xYJU&amp;rel=1&amp;autoplay=1" rel="shadowbox;width=640;height=480"> <!-- rgbdslam -->
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<!-- <img src="http://img.youtube.com/vi/5o3ABX7xYJU/2.jpg"> -->
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<img src="vi/cot2.jpg" alt="Video thumb">
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</a></td>
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<td class="youtube"><a href="http://www.youtube.com/v/0sFyyKEoB4o&amp;rel=1&amp;autoplay=1" rel="shadowbox;width=810;height=480"> <!-- quadcopter mapping -->
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<!-- <img src="http://img.youtube.com/vi/0sFyyKEoB4o/2.jpg"> -->
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<img src="vi/quad.jpg" alt="Video thumb">
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</a></td>
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<!-- <td class="youtube"><a href="http://www.youtube.com/v/_rIAGKA6uS8"> --> <!-- wheelchair mapping -->
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<!-- <img src="http://img.youtube.com/vi/_rIAGKA6uS8/2.jpg"> -->
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<!-- </a></td> -->
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</tr>
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</table>
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<h2>License</h2>
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<p>
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OctoMap is released under the <a href="http://opensource.org/licenses/BSD-3-Clause">New BSD License</a>.
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</p>
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<p>
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The viewer <em>octovis</em> is released under the <a href="http://opensource.org/licenses/gpl-2.0.php">GNU-GPL License (version 2)</a>.
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</p>
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<h3>Using Octomap?</h3>
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<p>Please let us know if you are using OctoMap, as we are curious to find out how it enables other people's work or research.
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Additionally, please cite our paper if you use OctoMap in your research:
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</p>
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<p>K. M. Wurm, A. Hornung, M. Bennewitz, C. Stachniss, and W. Burgard,
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<strong>&quot;OctoMap: A Probabilistic, Flexible, and Compact 3D Map Representation for Robotic Systems&quot;</strong> in
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<em>Proc. of the ICRA 2010 Workshop on Best Practice in 3D Perception and Modeling for Mobile Manipulation</em>, 2010.
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Software available at <a href="http://octomap.sf.net/">http://octomap.sf.net/</a>.
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</p>
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<p>BibTeX:</p>
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<pre>@inproceedings{octomap,
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author = {K. M. Wurm and A. Hornung and
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M. Bennewitz and C. Stachniss and W. Burgard},
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title = {{OctoMap}: A Probabilistic, Flexible, and Compact {3D} Map
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Representation for Robotic Systems},
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booktitle = {Proc. of the ICRA 2010 Workshop on Best Practice in
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3D Perception and Modeling for Mobile Manipulation},
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year = 2010,
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month = may,
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address = {Anchorage, AK, USA},
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url = {http://octomap.sf.net/},
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note = {Software available at \url{http://octomap.sf.net/}}
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}</pre>
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<h2>Installation</h2>
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<h3>Download</h3>
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<p>
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Download a
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<a href="http://sourceforge.net/project/platformdownload.php?group_id=277757">the latest released distribution package</a>,
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or check out the latest development version from our svn repository with:
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</p>
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<pre>
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svn co https://octomap.svn.sourceforge.net/svnroot/octomap/trunk octomap
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</pre>
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<p>Older releases are available from the <a href="http://sourceforge.net/projects/octomap/files/">Sourceforge download page</a> or at the SVN URL <a href="https://octomap.svn.sourceforge.net/svnroot/octomap/tags/">https://octomap.svn.sourceforge.net/svnroot/octomap/tags/</a>.
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</p>
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<p>
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If you want to use OctoMap in the <a href="http://www.ros.org">Robot
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Operating System (ROS)</a>, see the <a href="http://www.ros.org/wiki/octomap" >documentation on the ROS wiki</a> and the <a href="http://www.ros.org/wiki/octomap_mapping" ><strong>octomap_mapping</strong> stack</a> for map building. Pre-compiled packages for most platforms are already available and directly integrated.
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</p>
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<h3>Compilation</h3>
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<p>To build the OctoMap libraries, you need a current version of GCC (tested with
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4.3 - 4.6 under Ubuntu 9.04 - 12.04, 32 and 64 Bit) and cmake. The 3D viewer application
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requires Qt4 and OpenGL, and is based on <a href="http://www.libqglviewer.com/">libQGLViewer</a>.
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You can either install libQGLViewer as a system-wide package
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(libqglviewer-qt4-dev in Ubuntu), or use the version we provide in the
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"external" directory. If the CMake compilation can't find an installed qglviewer,
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it will automatically compile our supplied version and link against it.
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For building the GUI, you need to make sure that qmake for Qt4 is used (<tt>qmake -v</tt>).
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If yours is set to Qt3 in Ubuntu, you can change it to qmake-qt4 by running
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<tt>sudo update-alternatives --config qmake</tt> after installing the dependencies
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below.
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</p>
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<p>
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All dependencies for the library and viewer on Ubuntu can be met by running:
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</p>
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<pre>sudo apt-get install build-essential cmake doxygen libqt4-dev \
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libqt4-opengl-dev libqglviewer-qt4-dev</pre>
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<p>Build the complete project by changing into the "build" directory
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and running cmake:
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</p>
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<pre>cmake ..</pre>
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<p>
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Type <tt>make</tt> to compile afterwards. This will create all CMake
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files cleanly in the "build" folder (<em>Out-of-source build</em>).
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Executables will end up in "bin", libraries in "lib". You can also build
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the library and viewer separately, just have a look at the enclosed README.txt
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for details.
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</p>
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<p>
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A debug configuration can be created by running:
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</p>
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<pre>cmake -DCMAKE_BUILD_TYPE=Debug .. </pre>
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<p>
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in "build" or a different directory (e.g. "build-debug").
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</p>
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<p>
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After compiling, you can verify that all is working as expected by running our units tests with <tt>make test</tt>.</p>
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<h3>Getting started</h3>
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<p>Jump right in and have a look at the example <strong>src/octomap/simple.cpp</strong>
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or start the 3D viewer <strong>bin/octovis</strong>.
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You will find an example scan to load at <strong>src/examples/scan.dat.bz2</strong>
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(please bunzip2 it first). The Maps section below contains some finished
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real-world maps to look at.
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<h3>Documentation</h3>
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<p>
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A thorough auto-generated doxygen documentation of the API for the latest release is available at
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<a href="http://octomap.sourceforge.net/doxygen/">http://octomap.sourceforge.net/doxygen/</a>.
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Depending on your version, this may be outdated. To generate the documentation
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corresponding to you local version of OctoMap, type <tt>make docs</tt> in the build directory
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(requires <a href="http://www.doxygen.org/">doxygen</a>). Just open <strong>doc/html/index.html</strong> with
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a web browser to read it.
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</p>
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<h2>Maps</h2>
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<p>
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Take a look at some of our example maps below. You can find these and more datasets in our <a href="http://ais.informatik.uni-freiburg.de/projects/datasets/octomap/">dataset repository</a> as finished OctoMap files and sources in the form of 3D laser scans.
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</p>
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<div style="float:left"><div style="font-size:10pt">Freiburg campus (outdoor)</div>
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<a href="freiburg_outdoor_big.png"><img src="freiburg_outdoor.png" alt="Freiburg outdoor 3D map"></a>
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</div>
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<div style="float:left"><div style="font-size:10pt">Freiburg building 079 (corridor)</div>
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<a href="freiburg_079_big.png"><img src="freiburg_079.png" alt="Freiburg Geb. 079 indoor 3D map"></a>
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</div>
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<div style="float:left"><div style="font-size:10pt">New College (Epoch C)</div>
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<a href="newcol_big.png"><img src="newcol.png" alt="New College dataset 3D map "></a>
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</div>
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<h2 style="clear:both">Importing Data</h2>
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<h3>Laser Scan Data</h3>
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<p>Plain-text laser scan data can be imported from the following file format:
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</p>
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<pre>
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NODE x y z roll pitch yaw
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x y z
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x y z
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[...]
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NODE x y z roll pitch yaw
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x y z
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[...]
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</pre>
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<p>
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The keyword <tt>NODE</tt> is followed by the 6D pose of the laser origin of the 3D scan
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(roll, pitch, and yaw angles are around the axes x, y, z respectively).
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After a <tt>NODE</tt>-line, the laser endpoints of the scan originating at that
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scan node are listed as 3D points, in the coordinate frame of the scan node.
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The next <tt>NODE</tt> keyword specifies the start of a new 3D scan.
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Lines starting with '#' or empty lines are ignored.
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</p>
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<p>
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Our tool "log2graph" converts these plain-text log files into a binary scan graph
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file, which can be directly opened and converted in the viewer "octovis", or
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converted to an octree map from the command line with "graph2tree".
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</p>
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<h3>3D model files</h3>
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<p>
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You can directly create an OctoMap file from a variety of 3D file formats (3DS, VRML, OBJ ...)
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by first voxelizing them with <a href="http://www.cs.princeton.edu/~min/binvox">binvox</a>.
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For convenience, we provide the binvox Linux binary in <strong>src/extern/binvox</strong>.
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</p>
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<p>
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After converting your 3D data to a binvox file, you can create an Octree map from it
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by running our tool "binvox2bt".
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</p>
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<h2>Acknowledgments</h2>
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<p>OctoMap was developed at University of Freiburg in the DFG-funded
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<a href="http://www.sfbtr8.uni-bremen.de/">SFB/TR8 Spatial Cognition</a> within the
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projects A3-[MultiBot] and A8-[HumanoidSpace].</p>
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<p>
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<img src="unilogo_100.png" alt="Logo Uni Freiburg"> <img src="sfbtr8.png" alt="Logo SFBTR8"> <img src="dfg.png" alt="Logo DFG">
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</p>
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</div>
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<p>
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<a href="http://validator.w3.org/check?uri=referer"><img
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src="http://www.w3.org/Icons/valid-html401"
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alt="Valid HTML 4.01 Transitional" height="31" width="88"></a>
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</p>
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</body></html>

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