New fields for occupancy grid exports - #58
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occupancy_mapper to match
Chombled
requested review from
benemer,
mehermvr,
saurabh1002 and
tizianoGuadagnino
as code owners
April 27, 2026 19:58
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We've been recently using kiss-slam for a project and have had experiences mirroring the concerns in #26 . Having seen the added API calls in #29 , I think it could be valuable to expose said API and a general choice of outputs for the occupancy mapper in the config. I've added 4 new toggles, of which 3 are for setting the exports and one to toggle between the full- or occupied-only ply.
Some things I am not sure about are:
self.slam_config.occupancy_mapper.---) instead of an alias because I didn't want to importOccupancyMapperConfiginto pipeline.pyPlease let me know if this is of any interest and any other feedback, as I am quite new to contributing to OSS.