Package: octomap

"octomap" package binaries on CentOS:

/usr/bin/binvox2bt /usr/bin/bt2vrml /usr/bin/compare_octrees /usr/bin/convert_octree /usr/bin/edit_octree /usr/bin/eval_octree_accuracy /usr/bin/graph2tree /usr/bin/log2graph

You may install this package on CentOS with yum install octomap