VDB Mapping Core Library

DISCLAIMER: This library is still under development. Be warned that some interfaces will be changed and/or extended in the future.

The VDB Mapping core library was primarily developed to be used in combination with the corresponding ROS wrapper.

Getting Started

Requirements

This library requires OpenVDB as it is build around it. This library was initially developed using Version 5.0 and should work with all versions above.
Either install the apt package:
Ubuntu 18.04

sudo apt install libopenvdb5.0

Ubuntu 20.04

sudo apt install libopenvdb6.2

or compile the package from source using the provided build instructions

Build instructions

The library can be either used as plain c++ library or in combination with the afore mentioned ROS wrapper.

Plain cmake

To build this package as a standalone library, follow the usual cmake building steps:

git clone https://github.com/fzi-forschungszentrum-informatik/vdb_mapping
cd vdb_mapping
mkdir build && cd build
cmake ..
make -j8
make install

ROS workspace

In case you want build this library inside of a ROS workspace in combination with VDB Mapping ROS, you cannot use catkin_make since this library is not a catkin package. Instead you have to use catkin build or catkin_make_isolated to build the workspace.

# source global ros
source /opt/ros/<your_ros_version>/setub.bash

# create a catkin workspace
mkdir -p ~/catkin_ws/src && cd catkin_ws

# clone packages
git clone https://github.com/fzi-forschungszentrum-informatik/vdb_mapping

# install dependencies
sudo apt update
rosdep update
rosdep install --from-paths src --ignore-src -y

# build the workspace.
catkin build

# source the workspace
source deve/setup.bash

Acknowledgement

The research leading to this package has received funding from the German Federal Ministry of Education and Research under grant agreement No. 13N14679:

ROBDEKON - Robotic systems for decontamination in hazardous environments
More information: robdekon.de