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show

Show grid values in a figure

Description

example

show(map) displays the occupancy grid map in the current axes, with the axes labels representing the world coordinates.

show(map,'local') displays the occupancy grid map in the current axes, with the axes labels representing the local coordinates instead of world coordinates.

show(map,'grid') displays the occupancy grid map in the current axes, with the axes labels representing the grid coordinates.

show(___,Name,Value) specifies additional options specified by one or more name-value pair arguments.

mapImage = show(___) returns the handle to the image object created by show.

Examples

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Create an empty map of 10-by-10 meters in size.

map = occupancyMap(10,10,10);

Update the occupancy of specific world locations with new probability values and display the map.

x = [1.2; 2.3; 3.4; 4.5; 5.6];
y = [5.0; 4.0; 3.0; 2.0; 1.0];

pvalues = [0.2; 0.4; 0.6; 0.8; 1];

updateOccupancy(map,[x y],pvalues)
figure
show(map)

Figure contains an axes object. The axes object with title Occupancy Grid contains an object of type image.

Inflate the occupied areas by a radius of 0.5 m. The larger occupancy values overwrite the smaller values.

inflate(map,0.5)
figure
show(map)

Figure contains an axes object. The axes object with title Occupancy Grid contains an object of type image.

Get the grid locations from the world locations.

ij = world2grid(map,[x y]);

Set occupancy values for the grid locations.

setOccupancy(map,ij,ones(5,1),'grid')
figure
show(map)

Figure contains an axes object. The axes object with title Occupancy Grid contains an object of type image.

Convert a portable graymap (PGM) file containing a ROS map into an occupancyMap for use in MATLAB.

Import the image using imread. Crop the image to the playpen area.

image = imread('playpen_map.pgm');
imageCropped = image(750:1250,750:1250);
imshow(imageCropped)

Figure contains an axes object. The axes object contains an object of type image.

PGM values are expressed from 0 to 255 as uint8. Normalize these values by converting the cropped image to double and dividing each cell by 255. This image shows obstacles as values close to 0. Subtract the normalized image from 1 to get occupancy values with 1 representing occupied space.

imageNorm = double(imageCropped)/255;
imageOccupancy = 1 - imageNorm;

Create the occupancyMap object using an adjusted map image. The imported map resolution is 20 cells per meter.

map = occupancyMap(imageOccupancy,20);
show(map)

Figure contains an axes object. The axes object with title Occupancy Grid contains an object of type image.

Input Arguments

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Map representation, specified as a occupancyMap object. This object represents the environment of the vehicle. The object contains a matrix grid with values representing the probability of the occupancy of that cell. Values close to 1 represent a high probability that the cell contains an obstacle. Values close to 0 represent a high probability that the cell is not occupied and obstacle free.

Name-Value Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: 'Parent',axHandle

Axes to plot the map specified as either an Axes or UIAxes object. See axes or uiaxes.

Update existing map plot, specified as 0 or 1. If you previously plotted your map on your figure, set to 1 for a faster update to the figure. This is useful for updating the figure in a loop for fast animations.

Outputs

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Map image, specified as an object handle.

Introduced in R2019b