Main Content


Display TSDF in figure

Since R2024a



    show(mTSDF) shows all active voxels as a scatter plot.

    show(mTSDF,Name=Value) specifies one or more options using one or more name-value arguments.

    h = show(___) optionally returns the figure handle.


    collapse all

    Create two collision boxes and one collision sphere. The collision boxes represent a static environment and the sphere represents a dynamic obstacle with a pose that could change at any time.

    box1 = collisionBox(0.5,1,0.1);
    box2 = collisionBox(0.5,0.1,0.2,Pose=trvec2tform([0 -0.45 0.15]));
    sph = collisionSphere(0.125,Pose=trvec2tform([-0.1 0.25 0.75]));
    title("Static Environment and Dynamic Obstacle")
    v = [110 10];

    Create a mesh TSDF manager with a resolution of 40 cells per meter and a truncation distance of 0.1 meters.

    tsdfs = meshtsdf(Resolution=40,TruncationDistance=0.1);

    To improve the efficiency of signed distance field computation, combine meshes that represent the static environment.

    staticMeshes = geom2struct({box1,box2});
    staticEnv = staticMeshes(1);
    staticEnv.Pose = eye(4);
    staticEnv.Vertices = [];
    staticEnv.Faces = [];
    for i = 1:numel(staticMeshes)
        H = staticMeshes(i).Pose;
        V = staticMeshes(i).Vertices*H(1:3,1:3)'+ H(1:3,end)';
        nVert = size(staticEnv.Vertices,1);
        staticEnv.Vertices = [staticEnv.Vertices; V];
        staticEnv.Faces = [staticEnv.Faces; staticMeshes(i).Faces+nVert];
    staticEnv.ID = 1;

    Add the static environment mesh to the TSDF manager.


    Convert the sphere collision geometry into a structure for the mesh TSDF manager. Assign it an ID of 2 and add it to the mesh TSDF manager.

    obstacleID = 2;
    dynamicObstacle = geom2struct(sph,obstacleID);
    axis equal;
    title("Mesh TSDFs of Static Environment and Dynamic Obstacle");

    Update the pose of the dynamic obstacle in the mesh TSDF manager by changing Pose property of the object handle of the obstacle. Then use the updatePose function to update the pose of the mesh in the TSDF manager.

    dynamicObstacle.Pose = trvec2tform([0.2 0.25 0.2]);
    ans = 1
    axis equal
    title("Updated Dynamic Obstacle Pose")

    Input Arguments

    collapse all

    Truncated signed distance field for 3-D meshes, specified as a meshtsdf object.

    Example: meshtsdf(meshes,TruncationDistance=5) creates a TSDF for the specified meshes with a truncation distance of 5 meters.

    Name-Value Arguments

    Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

    Example: show(tsdf,MeshID=[2 3]) plots the active voxels for meshes in the TSDF with IDs 2 and 3.

    Parent axes, specified as an Axes object in which to plot the active voxels of mTSDF. By default the function plots the active voxels in the active axes.

    ID of mesh in TSDF to visualize, specified as a nonnegative integer or N-element vector of nonnegative integers. N is the total number of meshes to show.

    Example: show(tsdf,MeshID=2) plots active voxels from the mesh in the TSDF with the ID 2.

    Example: show(tsdf,MeshID=[1 2 3]) plots active voxels from meshes in the TSDF with the IDs 1, 2, and 3.

    Range of distance values to plot, specified as a two-element vector in the form [MinDistVal MaxDistVal]. An active voxel must have a distance value in the range [MinDistVal, MaxDistVal] to be plotted. MaxDistVal must be a greater value than MinDistVal.

    Example: show(tsdf,IsoRange=[-2 2]) plots active voxels containing distance values between -2 and 2 from all meshes in the TSDF.

    Output Arguments

    collapse all

    Scatter plot of active voxels, returned as a Scatter object.

    Version History

    Introduced in R2024a