How to use the occupancy grid

[doom0831]

I saw the occupancy grid function in the Guidance documentation.

I was wondering if there is any sample code to use the occupancy grid function in Gudiance and also run in Olympe?

Thanks for the help.

[trangpham]

Hi,

If your guidance mode is in:

1. Python

class YourGuidanceMode(gdnc_core.Mode):
    def __init__(self, guidance, name):
        super().__init__(guidance, name)
        # your code here
       
        # initialize spatial perception
        self.spatial_perception = self.guidance.get_spatial_perception()
        self.grid = self.spatial_perception.get_grid()

2. C++

#include "spatial_perception.hpp"

YourMode::YourMode(guidance::Guidance *guidance): Mode(guidance)
{
        /* Your constructor here */
}

// Get occupancy grid with this line
const moser::IGrid &grid = mGuidance->getSpatialPerception()->getGrid();

Actually, retrieving occupancy grid has not yet been supported in Olympe but you can access to streaming of disparity map with PDraw

[doom0831]

Hi, thanks for the reply.

So it means I can’t see the image like this photo in Sphinx system?

Is disparity map streaming using PDraw the same concept as this image?

Thanks for the help.