Map Difference between 2 maps

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Adrien on 19 Apr 2022
Commented: Adrien on 19 Apr 2022
I was using this function: binaryOccupancyMap
I created my occupancy maps, and wanted to make see the differences between 2 maps. I figured it would be simple, just compare the cells at the same index of both maps. However I have no idea how to access the grid values. The binaryOccupancyMap object shows it's properties (resolution, width, height ...) but not the data.
Do you know how I could access the actual grid data?
Thx for any input,

Accepted Answer

Cam Salzberger
Cam Salzberger on 19 Apr 2022
Hello Adrien,
Typically, if you are just checking a few cell's occupancy values, you would use the "getOccupancy" method. But if you're comparing two full maps, it's probably more efficient to get the full matrix out of both and use logical operators on that. You can get the matrix with the "occupancyMatrix" method.
  1 Comment
Adrien on 19 Apr 2022
Thx, now i see that function in the function's documentation page, for some reasons my eyes keept skipping that line..

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