How can i draw a real-time occupancy grid map using driveworks?

Autonomous Vehicles DRIVE PX 2 DriveWorks
1

It seems that sample_occupancy_grid can only draw a grid map offline. How can i draw a real-time occupancy grid map with sensors like camera or lidar or something else using driveworks samples or APIs?

And another question, how can i draw my own hd maps?Can kml files from Google maps be used as HD maps in lane planning sample?If not, how can i get valid maps for lane planning sample?

2

Dear wuhr15,
DW does not have any sample to demonstrate live occupancy grid map.
DW suppport only DW map format. You need to convert to dw map format to work with driveworks. We have provided map converison tools in DW 1.5 in Drive AGX platforms. But for Drive PX2, the last release has DW 1.2 and no future releases are planned.