Example: maps_voxelmap_simple
C++ example source code:
/* +------------------------------------------------------------------------+ | Mobile Robot Programming Toolkit (MRPT) | | https://www.mrpt.org/ | | | | Copyright (c) 2005-2024, Individual contributors, see AUTHORS file | | See: https://www.mrpt.org/Authors - All rights reserved. | | Released under BSD License. See: https://www.mrpt.org/License | +------------------------------------------------------------------------+ */ #include <mrpt/gui/CDisplayWindow3D.h> #include <mrpt/maps/CVoxelMap.h> #include <mrpt/obs/CObservation2DRangeScan.h> #include <mrpt/obs/stock_observations.h> #include <mrpt/opengl/CGridPlaneXY.h> #include <mrpt/opengl/COctoMapVoxels.h> #include <mrpt/opengl/stock_objects.h> #include <mrpt/system/os.h> #include <chrono> #include <iostream> #include <thread> // ------------------------------------------------------ // TestVoxelMap // ------------------------------------------------------ void TestVoxelMap() { mrpt::maps::CVoxelMap map(0.1); // map.insertionOptions.max_range = 5.0; // [m] // Manually update voxels: if (false) { map.updateVoxel(1, 1, 1, true); // integrate 'occupied' measurement map.updateVoxel(1.5, 1, 1, true); // integrate 'occupied' measurement map.updateVoxel(1.5, 1, 1, true); // integrate 'occupied' measurement map.updateVoxel(1.5, 1, 1, true); // integrate 'occupied' measurement map.updateVoxel(-1, -1, 1, false); // integrate 'free' measurement double occup; bool is_mapped; mrpt::math::TPoint3D pt; pt = mrpt::math::TPoint3D(1, 1, 1); is_mapped = map.getPointOccupancy(pt.x, pt.y, pt.z, occup); std::cout << "pt: " << pt << " is mapped?: " << (is_mapped ? "YES" : "NO") << " occupancy: " << occup << std::endl; pt = mrpt::math::TPoint3D(-1, -1, 1); is_mapped = map.getPointOccupancy(pt.x, pt.y, pt.z, occup); std::cout << "pt: " << pt << " is mapped?: " << (is_mapped ? "YES" : "NO") << " occupancy: " << occup << std::endl; } // Insert 2D scan: if (true) { mrpt::obs::CObservation2DRangeScan scan1; mrpt::obs::stock_observations::example2DRangeScan(scan1); map.insertObservation(scan1); } mrpt::gui::CDisplayWindow3D win("VoxelMap demo", 640, 480); auto gl_map = mrpt::opengl::COctoMapVoxels::Create(); { mrpt::opengl::Scene::Ptr& scene = win.get3DSceneAndLock(); { auto gl_grid = mrpt::opengl::CGridPlaneXY::Create(-20, 20, -20, 20, 0, 1); gl_grid->setColor_u8(mrpt::img::TColor(0x80, 0x80, 0x80)); scene->insert(gl_grid); } scene->insert(mrpt::opengl::stock_objects::CornerXYZSimple()); map.getAsOctoMapVoxels(*gl_map); // View occupied points: { auto mapPts = map.getOccupiedVoxels(); mapPts->renderOptions.point_size = 5.0; scene->insert(mapPts->getVisualization()); } gl_map->showGridLines(false); gl_map->showVoxels(mrpt::opengl::VOXEL_SET_OCCUPIED, true); gl_map->showVoxels(mrpt::opengl::VOXEL_SET_FREESPACE, true); scene->insert(gl_map); win.unlockAccess3DScene(); } std::cout << "Close the window to exit" << std::endl; bool update_msg = true; while (win.isOpen()) { if (win.keyHit()) { const unsigned int k = win.getPushedKey(); switch (k) { case 'g': case 'G': gl_map->showGridLines(!gl_map->areGridLinesVisible()); break; case 'f': case 'F': gl_map->showVoxels( mrpt::opengl::VOXEL_SET_FREESPACE, !gl_map->areVoxelsVisible( mrpt::opengl::VOXEL_SET_FREESPACE)); break; case 'o': case 'O': gl_map->showVoxels( mrpt::opengl::VOXEL_SET_OCCUPIED, !gl_map->areVoxelsVisible( mrpt::opengl::VOXEL_SET_OCCUPIED)); break; case 'l': case 'L': gl_map->enableLights(!gl_map->areLightsEnabled()); break; }; update_msg = true; } if (update_msg) { update_msg = false; win.addTextMessage( 5, 5, mrpt::format( "Commands: 'f' (freespace=%s) | 'o' (occupied=%s) | 'l' " "(lights=%s)", gl_map->areVoxelsVisible(mrpt::opengl::VOXEL_SET_FREESPACE) ? "YES" : "NO", gl_map->areVoxelsVisible(mrpt::opengl::VOXEL_SET_OCCUPIED) ? "YES" : "NO", gl_map->areLightsEnabled() ? "YES" : "NO")); win.repaint(); } using namespace std::chrono_literals; std::this_thread::sleep_for(10ms); }; } int main([[maybe_unused]] int argc, [[maybe_unused]] char** argv) { try { TestVoxelMap(); return 0; } catch (const std::exception& e) { std::cout << "Exception: " << e.what() << std::endl; return -1; } }