Add a octomap rendering sample #1247
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… Voxel Point Cloud map using Octomap. Also demonstrates how to use ImGUI in a project with added functionality and positioning of rendered assets.
Collaborator
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Wanted to give this a first try, but no matter what I tried, I wasn't able to get the newly added OctoMap submodule to checkout. Any ideas? Tried to clean reset, did a recursive checkout of all submodules, etc. |
Contributor
Same problem for me it looks like. |
Extends the octomap sample with three view modes: Octomap, GLTF Regular, and GLTF Splats. Implements splat rendering pipeline with per-instance attributes and premultiplied alpha blending. Adds GLTF mesh rendering with vertex color support. Includes new shader files for splat geometry and fragment evaluation. Updates camera to FirstPerson type for WASD movement. Fixes cube winding order and improves command buffer recording. Adds proper license headers to all new and modified files.
Standardizes code formatting with consistent indentation and brace style. Reorders includes alphabetically with core utilities first. Consolidates constructor initializer list to single line. Adjusts spacing and alignment throughout for consistency.
Ensures submodules are fully initialized and updated in each job by adding explicit `git submodule update --init --recursive` command after checkout, complementing the existing `submodules: "recursive"` checkout option.
Replaces spaces with tabs to maintain consistent formatting throughout the .gitmodules file.
Adds update_overlay method override that delegates to custom ImGUI implementation in render() function and executes additional UI callbacks when provided.
Renames header guards in ImGUIUtil.h from ORB_SLAM3_IMGUI_H to IMGUI_UTIL_H to match the actual file name. Excludes samples/complex/render_octomap/octomap directory from CI workflow file checks.
… with static_cast Improves code style consistency by adding braces to all single-statement if blocks. Replaces C-style casts with appropriate static_cast and reinterpret_cast. Filters out third_party/glfw warnings from clang-tidy output in CI workflow.
Replaces leading spaces with tabs to maintain consistent formatting throughout the file.
Collaborator
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This does compile for me now (after explicitly updating submodules), but crashes at startup with the following error: "ERROR: Filestream to assets/scenes/octmap_and_splats/octMap.bin not open, nothing read." I do see octMap.bin directly below the assets/scene folder. |
Collaborator
Author
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Yeah, I was holding off on uploading the map until I took a good one that
includes the splats. Will upload as soon as I can go to the office and
capture it
…On Thu, Jan 1, 2026, 1:30 PM Sascha Willems ***@***.***> wrote:
*SaschaWillems* left a comment (KhronosGroup/Vulkan-Samples#1247)
<#1247 (comment)>
This does compile for me now (after explicitly updating submodules), but
crashes at startup with the following error:
"ERROR: Filestream to assets/scenes/octmap_and_splats/octMap.bin not open,
nothing read."
I do see octMap.bin directly below the assets/scene folder.
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Description
This is a sample showing a complex interaction with other libraries to demonstrate how to work with libraries and tools int he wild. Here Octomap is used to demonstrate Occupancy grid rendering. We also demonstrate how to use ImGUI in a project with added functionality and positioning of rendered assets.
General Checklist:
Please ensure the following points are checked:
Note: The Samples CI runs a number of checks including:
If this PR contains framework changes:
batchcommand line argument to make sure all samples still work properlySample Checklist
If your PR contains a new or modified sample, these further checks must be carried out in addition to the General Checklist: