How to create a 3D occupancy map?

I want to create a 3D occupancy map to model a region where I want to test some path planning algorithms for an UAV. The matlab function requires some points and sensor pose to create the map, The example is poorly written and I am not able to understand how can I control the height, width and breadth of the buildings. Can some please detail the process of map creation perhaps for the following figure from MATLAB example? It shows various building with varying dimensions, I want to know how can I create this data file.

Answer 1

[KALYAN ACHARJYA]

This way, through surf plot?: I have shown with random test data. You may adjust the colors of the pattern/area

data=zeros(500,500);
data(100:300,100:300)=10;
data(300:400,300:400)=20;
fig=surf(data);
set(fig,'LineStyle','none');
axis tight;

Note: Theare is a function in Matlab as occupancymap

[Shubham Kalpande]

This is a nice solution. However I am looking at the application of occupancyMap3D. I want to use the UAV toolbox and Navigation toolbox to further implement path planning algorithms. I am not sure how have they created the occupancy map that I shared from this example.

[Vedant Dubey]

Hello Shubham.

You can use the file attached 'Buildings.m' to generate a similar scenario to the given example. The generated occupancy map does not check for intersecting buildings. You can add additional logic to do so, create a larger map or simply run the file until the random scene generated is more in line with what you are looking for.

[Shubham Kalpande]

Thank you, Vedant.