updateOccupancy

Update occupancy probability at locations

Syntax

updateOccupancy(map3D,xyz,obs)

Description

updateOccupancy(map3D,xyz,obs) probabilistically integrates the observation values, obs, to each specified xyz coordinate in the occupancyMap3D object, map3D.

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.

obs — Probability observation values

numeric scalar | logical scalar | n-by-1 column vector

Probability observation values, specified as a numeric or logical scalar, or as an n-by-1 column vector with the same size as xyz.

obs values can be from 0 to 1, but if obs is a logical array, the function uses the default observation values of 0.7 (true) and 0.4 (false). If obs is a numeric or logical scalar, the value is applied to all coordinates in xyz.

Extended Capabilities

C/C++ Code Generation

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

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

Version History

Introduced in R2019b