Python OctoMap implementation

This is a python based implementation of the OctoMap datastructure described in [OctoMap: An Efficient Probabilistic 3D Mapping Framework Based on Octrees] (http://www.informatik.uni-freiburg.de/~hornunga/pub/hornung13auro.pdf). If you want to use this library, checkout the OctoMap project first.

Project goals

1. See whether python based implementation of an octomap is feasible.
2. See whether octomap principles could be of use in our autonomic drone research.

Future work

Raytracing

This library only makes sense if you can do some sort of raytracing. Remains future work though.

Observation based API

Ideally, the library offers an API that allows you to do record distance d measured from point (x,y,z) with sensor inaccuracy i in direction (yaw,pitch,roll). This would then update the odds of occupancy around the measured distance.

Benchmarking the functional interface

The current implementation doesn't store any of the geometry data in the OccupancyOctoNodes. It simply passes all required information as arguments down the chain. This should lead to some memory consumption improvements. It would be interesting to see the computational penalty involved though.