Points in 3D occupancy Grid are classified as free

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boaz boazmenis
boaz boazmenis 2022-4-3
评论： boaz boazmenis 2022-4-5
Hi,
After building the 3D occupnacy grid (occupancyMap3D) I get the following map (the red trajectory is the vehicle's trajectory):
when zooming in on a specific point on the map:
I choose (randomly) the points [472, -86, 7] which is expected to be occupied according to the map.
but when I test for occupancy:
which means the point is classified as free...
What am I missing here?
Thanks

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Sandip Kumar
Sandip Kumar 2022-4-4
Please note the voxels are drawn around a center which is occupied, when you select you might be at the edge of the voxel, which might be accounted with the neighboring voxel which would be free.
A better way would be to checkOccupancy for multiple points around the area of interest, with a code something on these lines:
resolution = 0.5; % or the right resolution for your map
[X,Y,Z] = meshgrid(-resolution:resolution:resolution, ...
-resolution:resolution:resolution, ...
-resolution:resolution:resolution);
ptsOfInterest = [X(:) Y(:) Z(:)] + [ 472 -86 7 ]; % use the point of interest around which you want data
checkOccupancy(map3D,ptsOfInterest)

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