occupancyMatrix

Convert occupancy map to matrix

Syntax

mat = occupancyMatrix(map)

mat = occupancyMatrix(map,'ternary')

Description

mat = occupancyMatrix(map) returns probability values stored in the occupancy grid object as a matrix.

mat = occupancyMatrix(map,'ternary') returns the occupancy status of each grid cell as a matrix. The OccupiedThreshold and FreeThreshold properties on the occupancy grid determine the obstacle free cells (0) and occupied cells (1). Unknown values are returned as –1.

Examples

Convert Occupancy Map to Matrix

Create an empty occupancy map with a width and height of 10 meters.

map = occupancyMap(10,10);

Specify probability occupancy values as an 8-by-8 matrix.

inputMatrix = repmat(0.2:0.1:0.9,8,1);

Assign the probability occupancy values matrix to the map.

setOccupancy(map,[1 1],inputMatrix)
show(map)

Convert occupancy map to probability occupancy values matrix.

occupancyMatrix(map)

ans = 10×10

    0.5000    0.5000    0.5000    0.5000    0.5000    0.5000    0.5000    0.5000    0.5000    0.5000
    0.5000    0.2000    0.3000    0.4000    0.5000    0.6000    0.7000    0.8000    0.9000    0.5000
    0.5000    0.2000    0.3000    0.4000    0.5000    0.6000    0.7000    0.8000    0.9000    0.5000
    0.5000    0.2000    0.3000    0.4000    0.5000    0.6000    0.7000    0.8000    0.9000    0.5000
    0.5000    0.2000    0.3000    0.4000    0.5000    0.6000    0.7000    0.8000    0.9000    0.5000
    0.5000    0.2000    0.3000    0.4000    0.5000    0.6000    0.7000    0.8000    0.9000    0.5000
    0.5000    0.2000    0.3000    0.4000    0.5000    0.6000    0.7000    0.8000    0.9000    0.5000
    0.5000    0.2000    0.3000    0.4000    0.5000    0.6000    0.7000    0.8000    0.9000    0.5000
    0.5000    0.2000    0.3000    0.4000    0.5000    0.6000    0.7000    0.8000    0.9000    0.5000
    0.5000    0.5000    0.5000    0.5000    0.5000    0.5000    0.5000    0.5000    0.5000    0.5000

Convert occupancy map to occupancy values matrix.

occupancyMatrix(map,"ternary")

ans = 10×10

    -1    -1    -1    -1    -1    -1    -1    -1    -1    -1
    -1    -1    -1    -1    -1    -1     1     1     1    -1
    -1    -1    -1    -1    -1    -1     1     1     1    -1
    -1    -1    -1    -1    -1    -1     1     1     1    -1
    -1    -1    -1    -1    -1    -1     1     1     1    -1
    -1    -1    -1    -1    -1    -1     1     1     1    -1
    -1    -1    -1    -1    -1    -1     1     1     1    -1
    -1    -1    -1    -1    -1    -1     1     1     1    -1
    -1    -1    -1    -1    -1    -1     1     1     1    -1
    -1    -1    -1    -1    -1    -1    -1    -1    -1    -1

Input Arguments

map — Map representation

occupancyMap object

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.

Output Arguments

mat — Occupancy grid values

matrix

Occupancy grid values, returned as an h-by-w matrix, where h and w are defined by the two elements of the GridSize property of the occupancy grid object.

Data Types: double

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2019b