Occupancy grid and disparity map from depth image

[Astik-2002]

Greetings. I want to create a 3D occupancy map from the depth images that we get from visionAviary. Most formulations I've seen rely on creating a disparity map from left and right camera images. Can someone share how to do it? Or any other alternative ways to create an occupancy map?

Also, rn I'm using matplotlib.pyplot.imshow to view depth images. Can I increase the update rate for this. The code I'm using can be found here https://github.com/Astik-2002/gym-pybullet-drones/blob/master_dev/gym_pybullet_drones/examples/fly_im.py. Also pinned below is a reference video
Screencast from 07-10-2024 04:57:22 PM.webm

[Astik-2002]

Hello. As an update to previous issue, I've managed to create an occupancy map using open3d, but the update rate is very low, hence the map is not usable. Can someone share how to improve it?

The video for current map can be found here: https://drive.google.com/file/d/18TR8p-jfaahy2NeE2IaZJ2SsY3mGCTRR/view?usp=drivesdk