Create 3-D occupancy map
TheoccupancyMap3D
class stores a 3-D map and map information. The map is stored as probabilistic values in anoctree data structure. The class handles arbitrary environments and expands its size dynamically based on observation inputs. You can add observations as point clouds or as specificxyzlocations. These observations update the probability values. Probabilistic values represent the occupancy of locations. The octree data structure trims data appropriately to remain efficient both in memory and on disk.
creates an empty 3-D occupancy map with no observations and default property values.omap
= occupancyMap3D
specifies a map resolution in cells/meter and sets theomap
= occupancyMap3D(res
)Resolution
property.
creates an object with additional options specified by one or moreomap
= occupancyMap3D(res
,Name,Value)Name,Value
pair arguments. For example,'FreeThreshold',0.25
sets the threshold to consider cells obstacle-free as a probability value of 0.25. Enclose each property name in quotes.
checkOccupancy |
Check if locations are free or occupied |
getOccupancy |
Get occupancy probability of locations |
inflate |
Inflate map |
insertPointCloud |
Insert 3-D points or point cloud observation into map |
rayIntersection |
Find intersection points of rays and occupied map cells |
setOccupancy |
Set occupancy probability of locations |
show |
Show occupancy map |
updateOccupancy |
Update occupancy probability at locations |
阿明,[1]霍农Kai m .玉木麻仁Bennewitz,Cyrill Stachniss, and Wolfram Burgard. "OctoMap: an efficient probabilistic 3D mapping framework based on octrees."Autonomous Robots, Vol. 34, No. 3, 2013, pp. 189–206.. doi:10.1007/s10514-012-9321-0.
inflate
|insertPointCloud
|setOccupancy
|show
|readOccupancyMap3D
(ROS Toolbox)