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Voxel grid construction #3209
Voxel grid construction #3209
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Wow, looks pretty awesome
@jonyMarino @zimmy87 Any idea why the azure CI pipelines are not getting triggered for PRs? |
Yup, fixing the CI would be a big help, there's an open PR to add Gtihub Actions also, to replace Travis - #3180 |
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Just some small nitpicks
Seems like Azure Pipelines is active now, from the latest commit checks |
It's the Windows container initialization that's failing during CI. @jonyMarino Just a heads up
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Hi @saihv, I do not know if you get a notification with the CI results. |
@jonyMarino Thanks for re-enabling CI - will fix the Unity build shortly. EDIT: fixed |
Thank @rajat2004. This came from his work with GitHub Actions (#3180). We still see what happens with Azure pipelines. |
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Tested this locally and it works for me. Only comment is function naming-related.
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A bit late now, just pointing it out so that it doesn't get forgotten, maybe will add it in a new PR (along with some doc updates)
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Args: | ||
position (Vector3r): Position around which voxel grid is centered in m | ||
x, y, z (float): Size of each voxel grid dimension in m |
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Should be int
, not float
, from the method arguments defined in C++
Thank you for your work. I went over the C++ code. I think here x, y, z are not the the size of one voxel but the overall size of all voxels because I notice that you use x/res to compute number of cells. |
Very nice work! Can the voxel grid also model the objects that do not have an entity inside the world model, e.g., leaves? |
Hi! I'm trying to get the global map in the format of PointCloud, and I tried to use this api simcreatevoxelGrid() but it seems that it doesn't work well for irregular objects such as trees with leaves. Is there any api or plan to add an api which models the whole part of the objects? |
hi! Is there any way to get the semantic information of a voxel?thank you |
I was wondering how can I get the position of the block. |
such as the position information of obstacles(x, y) |
About
This PR introduces a feature that constructs ground truth voxel grids of the world directly from Unreal Engine. The voxel grids are stored in a binvox format which can then be converted by the user into an octomap .bt or any other relevant, desired format. Subsequently, these voxel grids/octomaps can be used within mapping/planning.
The logic for constructing the voxel grid is in WorldSimApi.cpp->createVoxelGrid(). For now, the assumption is that the voxel grid is a cube - and the API call is:
How Has This Been Tested?
Simple test script:
viewvox is a nifty little utility to then visualize the created binvox file. Similarly,
binvox2bt
can convert the binvox to an octomap file.Example voxel grid in Blocks: