How to add 3D model object in 3Doccupancy map?

I have created a 3D occupancy map to model a region where I want to test some path planning algorithms for an autonomous robot. I have created a 3D map along with obstacles, but my requirement is to add 3D model (eg, human,car,tree etc anything) to my map.

The example is difficult to understand. Can somebody help me in adding some model.

Note: I have made these buildings but i want to add some sort of models (like humans, tree,car etc)

Also can we add png,or gif to our map?

[Muhammad Zeeshan Ahmed Khan]

There is some sort of problem in occupancy map. Just try doing the stl way create a free model of car tree or any other in open stl and import it to the occupancy map.

[newbie coder]

can you explain me a little more?

Answer 1

[Mann Baidi]

Hi,

I understand that you would like to add a 3d model such a car, tree etc. in the 3d occupancy map. But currently there is no direct way of accomplishing this.

You can accomplish the same by importing “.stl” extensions file which has the model and pass it into “insertPointCloud” function. You can take the example from the following MATLAB Answer:

https://in.mathworks.com/matlabcentral/answers/783018-convert-to-occupancymap3d#answer_662274

Hope this helps!