A ros package for converting pcd file to octomap *.bt/*.ot file.
It has two nodes, which is for binary and color tree respectively. Furthermore, online converting PointCloud2 to Octomap message is alse available using octomap_server and pcl_ros. You can use launch file to start it and rviz to visualize it.
An octomap of a room is like this:
For offline file converting:
- pcl 1.7
- octomap 1.8 For online message converting:
- pcl 1.7
- octomap 1.8
- ROS Kinetic
- pcl_ros 1.4.4
- octomap_server 0.6.4
You can find more information about function usage here: https://haowenlai.github.io/pcd2octomap/
Haowen Lai