read

Return target data using ray tracing

Since R2024b

Syntax

[surfaceIds,hitDistances,hitLocations,hitNormals,validHits] = read(raytraceSensor)

Description

[surfaceIds,hitDistances,hitLocations,hitNormals,validHits] = read(raytraceSensor) returns data about the target detected using the ray trace sensor specified by raytraceSensor in the 3D environment.

Input Arguments

raytraceSensor — Virtual ray trace sensor that detects target

sim3d.sensors.RaytraceSensor object

Virtual ray trace sensor that detects target in the 3D environment, specified as a sim3d.sensors.RaytraceSensor object.

Example: raytraceSensor = sim3d.sensors.RaytraceSensor

Output Arguments

surfaceIds — Object identifiers of surfaces hit by ray

integer-valued N(B+1)-by-1 vector

Object identifiers of the surfaces hit by the ray, returned as an integer-valued N(B+1)-by-1 vector. N is the number of rays. B is the number of bounces per ray.

Data Types: uint8

hitDistances — Ray distance to hit location

real-valued N(B+1)-by-1 vector

Ray distance to hit location, returned as a real-valued N(B+1)-by-1 vector, in meters. N is the number of rays. B is the number of bounces per ray.

Data Types: double

hitLocations — Hit locations

real-valued N(B+1)-by-3 array

Hit locations, returned as a real-valued N(B+1)-by-3 array of the form [X, Y, Z], in meters. N is the number of rays. B is the number of bounces per ray.

Data Types: double

hitNormals — Ray normal to hit location

real-valued N(B+1)-by-3 array

Ray normal to the hit location, returned as a real-valued N(B+1)-by-3 array of the form [X, Y, Z], in meters. N is the number of rays. B is the number of bounces per ray.

Data Types: double

validHits — Hit flag

N-by-1 logical vector

Hit flag, returned as an N-by-1 logical vector. N is the number of rays. A value of 1 indicates the ray hit a surface.

Data Types: Logical

Version History

Introduced in R2024b