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Lightweight pointcloud raycasting;
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Determine occupied, free & unknown space;
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Occupancy probability tracking for Ghosting reduction;
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Fully running on CPU;
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Benchmarked on Ubuntu 16.04 LTS Xenial 64-bit, Intel Core i7-4770 CPU @ 3.40GHz x 8;
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Built with cmake 3.5.1;
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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)