Convert Binary Occupancy Grid to logical or numeric values

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

Answer 1

[Cam Salzberger]

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

[mohammed alany]

thanks for your replay,

but i am using matlab 2015a and your suggestion dosn't work.

what i want now, how i can make imcomplement. to Binary Occupancy Grid figure like the picture belo

[Cam Salzberger]

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]

Many thanks dear, great answer