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Convert Binary Occupancy Grid to logical or numeric values

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mohammed alany
mohammed alany 2019년 3월 12일
댓글: mohammed alany 2019년 3월 14일
i want to perform the code "imcomplement" on Binary Occupancy Grid figure, the erroe message occurs was :
"Error using imcomplement Expected input to be one of these types: logical, numeric Instead its type was robotics.BinaryOccupancyGrid."
if i cant not to convert to this extention, may i perform the code "inflate" on logical or numeric values

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Cam Salzberger
Cam Salzberger 2019년 3월 13일
Hello Mohammed,
You can use the occupancyMatrix method to extract the numeric values of the occupancy grid. Then you can manipulate the matrix how you want. For binary values, ~occGridMatrix would be the same as imcomplement.
As for going the other direction, inflate is similar to imdilate, though the exact algorithm differs.
-Cam
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Cam Salzberger
Cam Salzberger 2019년 3월 14일
Ah, the occupancyMatrix method was only introduced in R2016b. You could use getOccupancy with the 'grid' argument, simply providing each cell as an input to get an array, then reshape it back into a matrix. Something like:
[I, J] = ndgrid(1:map.GridSize(1), 1:map.GridSize(2));
values = getOccupancy(map, [I(:) J(:)], 'grid');
valueGrid = reshape(values, size(I));
I'm not certain about the reshape being the exact inverse of the (:) indexing, but you can play around with it if necessary.
mohammed alany
mohammed alany 2019년 3월 14일
Many thanks dear, great answer

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