Support occupancy grid cells #3032
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SamerKhshiboun
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| msg.cell_width = cell_size; | ||
| msg.cell_height = cell_size; | ||
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| for (auto i = 0; i < cols * rows; ++i) |
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@SamerKhshiboun, just thinking out loud for future enhancement. Maybe it makes sense to parallelize this operation by using SSSE3 or GPU acceleration. your thoughts?
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Yes, I think it worth checking if we can accelerate this.
If so, we can do this in a separated task.
Thanks for the advice !
| msg.cell_width = cell_size; | ||
| msg.cell_height = cell_size; | ||
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| for (auto i = 0; i < cols * rows; ++i) |
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Does this means rows and columns represent the cells and not the bytes?
meaning they are in bit units?
raws = 8 is 1 byte?
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rows = grid cell height, cols = grid cell width
added more documentation for this code
| geometry_msgs::msg::Point p3d; | ||
| uint32_t row = (i / cols); | ||
| uint32_t col = (i % cols); | ||
| p3d.x = (cell_size * static_cast<float>(rows)) - cell_size * (static_cast<float>(row) + 0.5f); |
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I would expect x axis will use columns and not rows, can you explain this line?
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in ROS CS, X is forward, Y is left, and Z is up.
in AICV algo ROWS represents the height is and COLS represents the width.
| { | ||
| // find x,y,z positions of current index | ||
| geometry_msgs::msg::Point p3d; | ||
| uint32_t row = (i / cols); |
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raw is calculates from cols?
Why not from RS2_FRAME_METADATA_OCCUPANCY_GRID_ROWS?
SamerKhshiboun
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Tracked by [LRS-996]