2D grid visualization

[brunoeducsantos]

Hi @m4nh , I want to make a 2D grid visualization of occupied tiles using my SLAM mapping. It is important to mention that there is a transformation of axis to match this SLAM reference frame:

• x-> y
• y -> z

• z->x

  
  for (int i = 0; i < tiles.size(); i++) {
  
  geometry_msgs::Point point;
  point.x = tiles[i].y;
  point.y = tiles[i].z;
  point.z = tiles[i].x;
  
  std_msgs::ColorRGBA color;
  if (tiles[i].data != NULL) {
    color.r = color.g = color.b =
        tiles[i].data->w >= min_voxel_weight_ ? 0.0 : 1.0;
    color.a = 1;
  } else {
    color.r = color.g = color.b = 1.0;
    color.a = 1;
  }
  
  voxels_marker.points.push_back(point);
  voxels_marker.colors.push_back(color);
  }

I changed the coordinates, although I obtain a wrong 2D grid.

Could you point me out what could be my issue? Thanks a lot in advance, Bruno PS: The grey stripes are the 2D grid

[m4nh]

It is very difficult for me to answer such detailed questions about your software :) however, in "skimap_live.cpp" there is also an example of how to view the Tiles of the corresponding 2D grid. It would be good to take a look at all the examples provided, so you can understand what you can already do with Skimap, and what should be implemented again.