• Lightweight pointcloud raycasting;

• Determine occupied, free & unknown space;

• Occupancy probability tracking for Ghosting reduction;

• Fully running on CPU;

• Benchmarked on Ubuntu 16.04 LTS Xenial 64-bit, Intel Core i7-4770 CPU @ 3.40GHz x 8;

• Built with cmake 3.5.1;

• Optimized with Valgrind 3.14.0;

Pose and Pointcloud run-data in HDF5 file format

Default recognized filename: RunData.h5

• C++11 or better
• CMake

• H5Cpp library (comes standard on Ubuntu Xenial)
• Octomap (https://github.com/OctoMap/octomap)
• Sparsepp (https://github.com/greg7mdp/sparsepp)