Is it possible to add occupaied property to mesh in an uavScenario object?

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Massimo Satler
Massimo Satler 2022-3-11
评论： Massimo Satler 2022-3-15
I would like to add the property IsBinaryOccupied to a "building" mesh in a uavScenario object in a similar way it is possible to do in a robotScenario object.
Just to give an example, this is the desired result:
scene = uavScenario(ReferenceLocation=[43.71890 10.42490 0]);
xlim = [-1000 1000]; ylim = [-1000 1000]; c = [0.6 0.6 0.6];
addMesh(scene,"terrain",{"gmted2010",xlim,ylim},c);
xl = [-800 800]; yl = [-800 800]; col = [0 1 0];
addMesh(scene,"buildings",{"OSMmap.osm",xl,yl,"auto"},col,IsBinaryOccupied=true);
show3D(scene);
this is the equivalent in robotScenario:
scenario = robotScenario(UpdateRate=100,StopTime=1);
addMesh(scenario,"Plane",Size=[3 3],Color=[0.7 0.7 0.7]);
addMesh(scenario,"Box",Size=[0.5 0.5 0.5],Position=[0 0 0.25], ...
Color=[0 1 0],IsBinaryOccupied=true));
show3D(scene);
Then:
occupancyMap = binaryOccupancyMap(scenario,MapHeightLimits=[-1 1], ...
GridOriginInLocal=[-5 -5]);

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回答（1 个）

Jianxin Sun
Jianxin Sun 2022-3-15
Hi Massimo,
The uavScenario currently doesn't support conversion to binary occupancy map. Thus the IsBinaryOccupied input is not applicable with uavScenario.
Regards,
Jianxin
  1 个评论
Massimo Satler
Massimo Satler 2022-3-15
Do you know if there is some on-going development on it?
I compared both classed definition (i.e. uavScenario and robotScenario) and at fisrt glance, I think it could be enought to include the bynaryOccupancyMap method to the uavScenario and expand it to work on 3D spaces.

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