setOccupancy

Set occupancy probability of locations

Syntax

setOccupancy(map3D,xyz,occval)

Description

setOccupancy(map3D,xyz,occval) assigns the occupancy values to each specified xyz coordinate in the 3-D occupancy map.

Examples

Create and Export 3-D Occupancy Map

Create an occupancyMap3D object.

map3D = occupancyMap3D;

Create a ground plane and set occupancy values to 0.

[xGround,yGround,zGround] = meshgrid(0:100,0:100,0);
xyzGround = [xGround(:) yGround(:) zGround(:)];
occval = 0;
setOccupancy(map3D,xyzGround,occval)

Create obstacles in specific world locations of the map.

[xBuilding1,yBuilding1,zBuilding1] = meshgrid(20:30,50:60,0:30);
[xBuilding2,yBuilding2,zBuilding2] = meshgrid(50:60,10:30,0:40);
[xBuilding3,yBuilding3,zBuilding3] = meshgrid(40:60,50:60,0:50);
[xBuilding4,yBuilding4,zBuilding4] = meshgrid(70:80,35:45,0:60);

xyzBuildings = [xBuilding1(:) yBuilding1(:) zBuilding1(:);...
                xBuilding2(:) yBuilding2(:) zBuilding2(:);...
                xBuilding3(:) yBuilding3(:) zBuilding3(:);...
                xBuilding4(:) yBuilding4(:) zBuilding4(:)];

Update the obstacles with new probability values and display the map.

obs = 0.65;
updateOccupancy(map3D,xyzBuildings,obs)
show(map3D)

Check if the map file named citymap.ot already exist in the current directory and delete it before creating the map file.

if exist("citymap.ot",'file')
    delete("citymap.ot")
end

Export the map as an octree file.

filePath = fullfile(pwd,"citymap.ot");
exportOccupancyMap3D(map3D,filePath)

Input Arguments

map3D — 3-D occupancy map

occupancyMap3D object

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

xyz — World coordinates

n-by-3 matrix

World coordinates, specified as an n-by-3 matrix of [x y z] points, where n is the number of world coordinates.

occval — Probability occupancy values

scalar | column vector

Probability occupancy values, specified as a scalar or a column vector with the same length as xyz. A scalar input is applied to all coordinates in xyz.

Values close to 0 represent certainty that the cell is not occupied and obstacle-free.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

setOccupancy does not support code generation using the packNGo (MATLAB Coder) function if you set the packType argument to "flat".

Version History

Introduced in R2019b