A GUI written in C++ for use in dense evidence grid mapping in Robotics. I specifically developed this with ROS in mind though it should be fairly universal.
This visualization system depends on OpenGL and GLUT.
Depends what framework you are working with.
For ROS specifically, the following is known to work.
#include <vector>
#include <boost/thread.hpp>
#include "visualize_evidence.h"
/**
main
*/
int main(int argc, char **argv) {
// Set the coarsness of the evidence grid
int GRANULARITY = 40;
// Create an evidence grid object
EvidenceGrid grid = EvidenceGrid(GRANULARITY);
// Initialize the Robots local evidence grid
std::vector< std::vector<float> > v;
v.resize(GRANULARITY);
for (int i=0; i < v.size(); i++) {
v[i].resize(GRANULARITY);
for (int j=0; j < v.size(); j++) {
v[i][j] = 0.5f;
}
}
// Package arguments for UI
GFX_ARGS.argc = argc;
GFX_ARGS.argv = argv;
GFX_ARGS.GRANULARITY = GRANULARITY;
GFX_ARGS.grid = &grid;
// Dispatch a thread to run the GUI
boost::thread spin_thread(&dispatch_gfx);
}Using the visualization system is as simple as including visualize_evidence.h, initializing GFX_ARGS, and running dispatch_gfx in a thread via your preferred means of thread creation.
The following is an example of updating the GUIs evidence grid. The vector representation of
the environment is passed as the first argument and the robot information vector of the form [theta, x, y]
is passed as the second.
std::vector<float> robot_info(3);
robot_info[0] = position_theta;
robot_info[1] = x_pos;
robot_info[2] = y_pos;
this->grid->update_grid(this->vec, robot_info);If you would like to contribute follow these steps and i'll review the request at the earliest convenience.
- Fork it
- Create your feature branch:
git checkout -b my-new-feature - Commit your changes:
git commit -am 'Add some feature' - Push to the branch:
git push origin my-new-feature - Submit a pull request
This project is under the MIT License, more info can be found on this under the file LICENSE