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importOccupancyMap3D

Import an octree file as 3D occupancy map

Description

example

map3D = importOccupancyMap3D(mapPath) imports the octree file (.ot/bt) specified at the relative or absolute file path, mapPath

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

Display the map.

show(map3D)

Figure contains an axes object. The axes object with title Occupancy Map contains an object of type patch.

Check the occupancy statuses of different locations and get their occupancy values.

iOccVal1 = checkOccupancy(map3D,[50 15 0])
iOccVal1 = 0
OccVal1 = getOccupancy(map3D,[50 15 0])
OccVal1 = 0.0019
iOccVal2 = checkOccupancy(map3D,[50 15 15])
iOccVal2 = 1
OccVal2 = getOccupancy(map3D,[50 15 15])
OccVal2 = 0.6500
iOccVal3 = checkOccupancy(map3D,[50 15 45])
iOccVal3 = -1
OccVal3 = getOccupancy(map3D,[50 15 45])
OccVal3 = 0.5000

Input Arguments

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Absolute or relative path to octree file (.ot/bt) , specified as a string scalar or character vector.

Example: "path/to/file/map.ot"

Data Types: char | string

Output Arguments

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

Introduced in R2020a