RoboND-OccupancyGridMappingAlgorithm

You will visualize the mapped environment through the generated image

Instruction

Code the visualization function which will plot the state of each grid cell using the matplotlib python library

void visualization()
{
    //TODO: Initialize a plot named Map of size 300x150
    
    //TODO: Loop over the log odds values of the cells and plot each cell state. 
    //Unkown state: green color, occupied state: black color, and free state: red color 
    
    //TODO: Save the image and close the plot 
}

Here are some helpful commands you can use to generate plots with the matplotlib library:

• Set Title: plt::title("Your Title");
• Set Limits: plt::xlim(x-axis lower limit, x-axis upper limit );
• Plot Data:plt::plot({ x-value }, { y-value }, "Color and Shape");
• Save Plot: plt::save("File name and directory");
• Close Plot: plt::clf();

Check out this link for more information on the matplotlib C++ library. For information regarding the plot color and shape refer to the LineSpec and LineColor section of the MATLAB documentation.

Compiling

$ cd /home/workspace/
$ git clone https://github.com/udacity/RoboND-OccupancyGridMappingAlgorithm
$ cd RoboND-OccupancyGridMappingAlgorithm/
$ rm -rf Images/* #Delete the folder content and not the folder itself!
$ g++ main.cpp -o app -std=c++11 -I/usr/include/python2.7 -lpython2.7

Running

$ ./app

Now, wait for the program to generate the map!

Generated Map