The dynamicEDT3D library implements an inrementally updatable Euclidean distance transform (EDT) in 3D. It comes with a wrapper to use the OctoMap 3D representation and hooks into the change detection of the OctoMap library to propagate changes to the EDT.
hunterlallen@protonmail.com
Hunter L. Allen
sprunkc@informatik.uni-freiburg.de
Christoph Sprunk
https://github.com/ros-gbp/octomap/issues