How to create a mask for Occupancy Grid free area? about cupoch

[neka-nat]

Hi,

Thank you for the feedback.
Do you mean the following function?

occupancygrid.set_free_voxels(voxels)

It is not currently implemented.

[toshi2k2]

Yes.
Is there any documentation for the OccupancyGrid() method? I'm trying to figure out from the examples as to how return an occupancy map given a point cloud or rgb and depth image.

[neka-nat]

I haven't started work on the documentation yet.
Please refer to the example of OccupancyGrid.
https://github.com/neka-nat/cupoch/blob/master/examples/python/realsense/realsense_occupancygrid_viewer.py
You can get the voxel grid itself with the voxels property, but only for occupied and free voxels.

I will continue to add the following features to OccupancyGrid:

• Conversion between geometries, VoxelGrid <-> OccupancyGrid, DistanceTransform <-> OccupancyGrid, ...
• Adding examples with collision detection
• Access function to grid other than voxels

If you have any feature requests, please let me know. Pull requests are also welcome.

[neka-nat]

I added some functions for OccupancyGrid.

• OccupancyGrid::SetFreeArea
• DistanceTransformation::CreateFromOccupancyGrid
• VoxelGrid::CreateFromOccupancyGrid