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Library or tools to operate on map matrix (occupancy grid)

asked 2022-06-22 02:01:25 -0500

electrophod gravatar image

updated 2022-06-22 02:02:15 -0500


I want to perform some operations on map (in the form of a 2D occupancy grid) -> like checking the number of cells covered by the field of view of camera, etc. Right now I am dealing with the map as a numpy matrix and then performing operations on it.

The problem I am facing is that it's quite slow as the map matrix is quite big in my case (3000 x 4000) and even the camera field of view covers quite a lot of number of cells.

I tried using PyTorch tensors instead of numpy arrays and got some increase in speed.

Can anyone suggest me any other (if any) tool or library for my work?

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answered 2022-06-22 03:50:58 -0500

ljaniec gravatar image

You can try to use these packages:

Especially last one, in C++, could be faster than your custom code

This is a C++ library with ROS interface to manage two-dimensional grid maps with multiple data layers

In general, you can try to speed up of your code if you reduce the scale of the map array to at most a few hundreds pixels in width and height - usually these types of hacks allow you to accelerate the code execution significantly

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Asked: 2022-06-22 02:01:25 -0500

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Last updated: Jun 22 '22