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How to compute occupancy grid in opencv?

asked 2017-02-17 02:12:25 -0500

mosta gravatar image

I already have disparity image and i want to compute an occupancy grid, is there is a way to do it in Opencv?, i am using opencv 2.4.13 with C++.

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There have been people doing it and claiming they did it completely in OpenCV, so it should be possible. This is another example.

StevenPuttemans gravatar imageStevenPuttemans ( 2017-02-17 03:32:27 -0500 )edit

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answered 2020-05-13 11:08:06 -0500

seemahan gravatar image

There is no specific function to create the occupancy grid, however a good idea which worked for me is - Create a 2D openCV matrix with same number of rows and columns as your occupancy grid. Initialize Matrix with 0 values. Then, get the occupancy values from the occupancy grid for each cell, while iterating through the 2D Matrix push occupancy value of each cell as each element for the 2D matrix. This will give you a image of the occupancy grid.

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answered 2017-02-17 02:17:20 -0500

LBerger gravatar image

I don't think there is such algorithm in OpenCV (Image Processing library). May be you would find it in ROS (or in github)

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Asked: 2017-02-17 02:12:25 -0500

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Last updated: May 13