exportOccupancyMap3D
Import an octree file as 3D occupancy map
Description
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 a occupancyMap3D
object.
filename
— Absolute or relative path to octree file
string scalar | character vector
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
Version History
Introduced in R2020a
See Also
Classes
Functions
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