# inflate

Inflate each occupied location

Since R2019b

## Description

example

inflate(map3D,radius) inflates each occupied position of the specified in the input occupancyMap3D object by the radius specified in meters. radius is rounded up to the nearest equivalent cell based on the resolution of the map. This inflation increases the size of the occupied locations in the map.

## Examples

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Import a 3-D occupancy map.

map3D = importOccupancyMap3D("citymap.ot")
map3D =
occupancyMap3D with properties:

ProbabilitySaturation: [1.0000e-03 0.9990]
Resolution: 1
OccupiedThreshold: 0.6500
FreeThreshold: 0.2000

Inflate the occupied areas by a radius of 1 m. Display the map.

inflate(map3D,1)
show(map3D)

Find the intersection points of rays and occupied map cells.

numRays = 10;
angles = linspace(-pi/2,pi/2,numRays);
directions = [cos(angles); sin(angles); zeros(1,numRays)]';
sensorPose = [55 40 1 1 0 0 0];
maxrange = 15;
[intersectionPts,isOccupied] = rayIntersection(map3D,sensorPose,directions,maxrange)
intersectionPts = 10×3

55.0000   32.0000    1.0000
57.9118   32.0000    1.0000
61.7128   32.0000    1.0000
67.9904   32.5000    1.0000
69.0000   37.5314    1.0000
69.0000   42.4686    1.0000
67.9904   47.5000    1.0000
64.6418   51.4907    1.0000
58.2757   49.0000    1.0000
55.0000   49.0000    1.0000

isOccupied = 10×1

1
1
1
-1
1
1
-1
-1
1
1

Plot the intersection points and plot rays from the pose to the intersection points.

hold on
plotTransforms(sensorPose(1:3),sensorPose(4:end),...
'FrameSize',5,'MeshFilePath','groundvehicle.stl') % Vehicle sensor pose
for i = 1:numRays
plot3([sensorPose(1),intersectionPts(i,1)],...
[sensorPose(2),intersectionPts(i,2)],...
[sensorPose(3),intersectionPts(i,3)],'-b') % Plot rays
if isOccupied(i) == 1
plot3(intersectionPts(i,1),intersectionPts(i,2),intersectionPts(i,3),'*r') % Intersection points
end
end

## Input Arguments

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3-D occupancy map, specified as an occupancyMap3D object.

Amount to inflate occupied locations, specified as a scalar. radius is rounded up to the nearest cell value.

## Version History

Introduced in R2019b