voxel grids、
时间: 2024-09-21 11:06:29 浏览: 18
Voxel grids, also known as voxel maps or volumetric grids, are a way to represent 3D data in a structured and discretized manner. In the context of AirSim, which is an open-source drone simulation platform, they are used for efficient spatial reasoning and storage.
Here's a brief overview:
1. **定义与创建**: A Voxel grid in AirSim (specifically, when using C++)[^1] starts with defining parameters like the center position in world coordinates (`position`), size of each cell (`x, y, z` in meters), and resolution (`res`). This determines how large a physical space will be divided into equal-sized cubes (voxels).
```cpp
// 示例代码片段
Vector3f position; // 中心世界坐标
float xSize, ySize, zSize; // 栅格尺寸
int res; // 分辨率
std::string fileName; // 文件名,如 "myVoxelGrid.binvox"
// 创建Voxel Grid
createVoxelGrid(position, xSize, ySize, zSize, res, fileName);
```
2. **用途**: These grids can be used for various purposes such as object detection, path planning, or collision avoidance by querying whether a specific point falls within a certain voxel.
3. **存储格式**: AirSim supports saving these voxel grids in a binary format (like `.binvox`) for later use or exchange.
**相关问题--:**
1. 如何在AirSim中加载已经创建的Voxel Grid?
2. 能否通过Voxel Grid实现无人机避开障碍物的功能?
3. 在实际应用中,Voxel Grid的计算效率和精度之间是如何权衡的?