neka-nat/cupoch

Occupancy grid understanding

aditdoshi333 opened this issue · 1 comments

aditdoshi333 commented

Thank you for sharing such amazing work.

For a project, I am using L515 and I wanted to detect obstacles coming in the path of the bot (L515 is mounted on a bot). I was thinking to use occupancy grid example by some way but I am not able to understand the output of occupancy grid. Can you please throw some light on the output of the occupancy grid?

If not occupancy grid can you suggest some functionality from your library I can use to proceed with such a problem.

Thanks a lot.

neka-nat commented

Hi,
Thank you for asking!
The OccupancyGrid class has a dense grid that contains information on whether it is an obstacle or not.
If it is to be used for obstacle avoidance, the voxels property can be used to get a list of detected voxels.
The voxels contain the occupancy log liklihood, and if it is greater than oc_prob_thres_log, then it is an obstacle cell.