Example: maps_octomap_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/COctoMap.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/obs/stock_observations.h>
#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/opengl/COctoMapVoxels.h>
#include <mrpt/system/os.h>

#include <chrono>
#include <iostream>
#include <thread>

//#define HAS_SYSTEM_OCTOMAP

#ifdef HAS_SYSTEM_OCTOMAP
#include <octomap/OcTree.h>
#include <octomap/octomap.h>
#endif

using namespace mrpt;
using namespace mrpt::maps;
using namespace mrpt::opengl;
using namespace mrpt::math;
using namespace mrpt::obs;
using namespace std;

// ------------------------------------------------------
//              TestOctoMap
// ------------------------------------------------------
void TestOctoMap()
{
  COctoMap map(0.2);

  if (false)
  {
    // Manually update voxels:
    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 'occupied' 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);
    cout << "pt: " << pt << " is mapped?: " << (is_mapped ? "YES" : "NO") << " occupancy: " << occup
         << endl;

    pt = mrpt::math::TPoint3D(-1, -1, 1);
    is_mapped = map.getPointOccupancy(pt.x, pt.y, pt.z, occup);
    cout << "pt: " << pt << " is mapped?: " << (is_mapped ? "YES" : "NO") << " occupancy: " << occup
         << endl;
  }

  // Insert 2D scan:
  {
    CObservation2DRangeScan scan1;
    stock_observations::example2DRangeScan(scan1);
    map.insertObservation(scan1);
  }

  mrpt::gui::CDisplayWindow3D win("OctoMap demo", 640, 480);

  mrpt::opengl::COctoMapVoxels::Ptr gl_map = mrpt::opengl::COctoMapVoxels::Create();

  {
    mrpt::opengl::Scene::Ptr& scene = win.get3DSceneAndLock();

    {
      mrpt::opengl::CGridPlaneXY::Ptr 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);
    }

    map.renderingOptions.generateGridLines = true;
    map.getAsOctoMapVoxels(*gl_map);

    gl_map->showGridLines(false);
    gl_map->showVoxels(VOXEL_SET_OCCUPIED, true);
    gl_map->showVoxels(VOXEL_SET_FREESPACE, true);
    scene->insert(gl_map);

    win.unlockAccess3DScene();
  }

// Go through voxels:
#ifdef HAS_SYSTEM_OCTOMAP
  {
    const auto& om = map.getOctomap<octomap::OcTree>();
    for (auto it = om.begin_leafs(); it != om.end_leafs(); ++it)
    {
      const octomap::point3d pt = it.getCoordinate();
      cout << "pt: " << pt << " -> occupancy = " << it->getOccupancy() << endl;
    }
  }
#endif

  cout << "Close the window to exit" << 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(VOXEL_SET_FREESPACE, !gl_map->areVoxelsVisible(VOXEL_SET_FREESPACE));
          break;
        case 'o':
        case 'O':
          gl_map->showVoxels(VOXEL_SET_OCCUPIED, !gl_map->areVoxelsVisible(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: 'g' (grids=%s) | 'f' (freespace=%s) | 'o' "
              "(occupied=%s) | 'l' (lights=%s)",
              gl_map->areGridLinesVisible() ? "YES" : "NO",
              gl_map->areVoxelsVisible(VOXEL_SET_FREESPACE) ? "YES" : "NO",
              gl_map->areVoxelsVisible(VOXEL_SET_OCCUPIED) ? "YES" : "NO",
              gl_map->areLightsEnabled() ? "YES" : "NO"));

      win.repaint();
    }

    std::this_thread::sleep_for(10ms);
  };
}

int main(int argc, char** argv)
{
  try
  {
    TestOctoMap();
    return 0;
  }
  catch (exception& e)
  {
    cout << "MRPT exception caught: " << e.what() << endl;
    return -1;
  }
  catch (...)
  {
    printf("Another exception!!");
    return -1;
  }
}