Initialize Occupancy Grid with Default Value?

Question

Andres Morales 2023-8-1

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https://ww2.mathworks.cn/matlabcentral/answers/2003322-initialize-occupancy-grid-with-default-value

编辑： Praveen Reddy 2023-8-25

Right now, this is what I have:

width = 50;
height = 50;
resolution = 1;
default = 0.25;
map = occupancyMap(width,height,resolution);
map.DefaultValue = default;
setOccupancy(map,default*(ones(map.GridSize)));

I initially expected Line 6 to change the default value, but I guess since the grid has already been initialized with the "default default value", this performs no change. Therefore, I need to force this change on Line 7.

Is there a way to set the default initially and saving that computation time?

What is the effect of Line 6 then? Since it is not reflected on the occupancy grid?

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Answer 1

Praveen Reddy 2023-8-21

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https://ww2.mathworks.cn/matlabcentral/answers/2003322-initialize-occupancy-grid-with-default-value#answer_1290642

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Hi Andres,

I understand that you want to know how to initialize occupancy grid with default value without using “setOccupancy()” method. I suggest you to pass the default value matrix as input to “occupancyMap()” method as shown below

width = 500; 
height = 500; 
res = 1; 
default = 0.25; 
occupiedMatrix = true(height*res,width*res); 
map = occupancyMap(occupiedMatrix, Resolution=res); 
 

Please note that “DefaultValue” property of map object is used for unspecified map locations including areas outside the map.

To know more about occupancyMap usage, please refer to the following MATLAB documentation.

https://in.mathworks.com/help/nav/ref/occupancymap.html

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Andres Morales 2023-8-24

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Hello Praveen,

On Line 5, do you mean:

occupiedMatrix = default*true(height*res,width*res);

?

Praveen Reddy 2023-8-25

编辑：Praveen Reddy 2023-8-25

Hi Andres,

You can construct the matrix as per your requirements. I tried to make minimal changes to your code. However I did not intend to use the default variable declared.

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