Added OctoMap class

CMakeLists.txt

@@ -137,6 +137,7 @@ option(WITH_VERTIGO       "Include Vertigo support"              ON)
 option(WITH_CVSBA         "Include cvsba support"                ON)
 option(WITH_FLYCAPTURE2   "Include FlyCapture2/Triclops support" ON)
 option(WITH_ZED           "Include ZED sdk support"              ON)
+option(WITH_OCTOMAP       "Include Octomap support"              ON)
 
 FIND_PACKAGE(OpenCV REQUIRED QUIET)
 FIND_PACKAGE(PCL 1.7 REQUIRED QUIET)
@@ -279,6 +280,13 @@ IF(WITH_ZED)
     ENDIF(ZED_FOUND)
 ENDIF(WITH_ZED)
 
+IF(WITH_OCTOMAP)
+	FIND_PACKAGE(OCTOMAP)
+    IF(OCTOMAP_FOUND)
+       MESSAGE(STATUS "Found octomap: ${OCTOMAP_INCLUDE_DIRS}")
+    ENDIF(OCTOMAP_FOUND)
+ENDIF(WITH_OCTOMAP)
+
 IF(G2O_FOUND OR GTSAM_FOUND OR ZED_FOUND)
    #Newest versions require std11
    IF(NOT MSVC)
@@ -383,6 +391,11 @@ IF(NOT ZED_FOUND)
 ELSE()
    SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${ZED_LIBRARIES} ${CUDA_LIBRARIES}) 
 ENDIF()
+IF(NOT OCTOMAP_FOUND)
+   SET(OCTOMAP "//")
+ELSE()
+   SET(CONF_DEPENDENCIES ${CONF_DEPENDENCIES} ${OCTOMAP_LIBRARIES}) 
+ENDIF()
 IF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
    SET(OPENCV3 "//")
 ENDIF(NOT (OpenCV_FOUND AND OpenCV_VERSION_MAJOR EQUAL 3))
@@ -669,6 +682,14 @@ ELSE()
 MESSAGE(STATUS "  With ZED                  = NO (ZED sdk not found)")
 ENDIF()
 
+IF(OCTOMAP_FOUND)
+MESSAGE(STATUS "  With OCTOMAP              = YES (License: BSD)")
+ELSEIF(NOT WITH_OCTOMAP)
+MESSAGE(STATUS "  With OCTOMAP              = NO (WITH_OCTOMAP=OFF)")
+ELSE()
+MESSAGE(STATUS "  With OCTOMAP              = NO (octomap not found)")
+ENDIF()
+
 IF(QT4_FOUND)
 MESSAGE(STATUS "  With Qt4                  = YES (License: Open Source or Commercial)")
 ELSEIF(Qt5_FOUND)