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show

Display TSDF in figure

Since R2024a

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    Syntax

    show(mTSDF)
    show(mTSDF,Name=Value)
    h = show(___)

    Description

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

    example

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

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

    Examples

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    Open Live Script

    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]));
showCollisionArray({box1,box2,sph});
title("Static Environment and Dynamic Obstacle")
v = [110 10];
view(v);

    Figure contains an axes object. The axes object with title Static Environment and Dynamic Obstacle, xlabel X, ylabel Y contains 3 objects of type patch.

    Create a mesh TSDF manager with a resolution of 25 cells per meter.

    tsdfs = meshtsdf(Resolution=25);

    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];
end
staticEnv.ID = 1;

    Add the static environment mesh to the TSDF manager.

    addMesh(tsdfs,staticEnv);

    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);
addMesh(tsdfs,dynamicObstacle);
show(tsdfs)
view(v)
axis equal
title("Mesh TSDFs of Static Environment and Dynamic Obstacle")

    Figure contains an axes object. The axes object with title Mesh TSDFs of Static Environment and Dynamic Obstacle contains 2 objects of type scatter.

    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]);
updatePose(tsdfs,dynamicObstacle)
    ans = 
1

    show(tsdfs)
view(v)
axis equal
title("Updated Dynamic Obstacle Pose")

    Figure contains an axes object. The axes object with title Updated Dynamic Obstacle Pose contains 2 objects of type scatter.

    Input Arguments

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    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. For more information, see Axes Properties.

    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.

    Colorbar for the voxel distance values, specified as either "off" or "on". For more information about colorbars, see ColorBar Properties.

    Example: show(sdm,Colorbar="on")

    Fast updates to existing map plot, specified as a logical 0 (false) or 1 (true). 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.

    Output Arguments

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    Scatter plot of active voxels, returned as a Scatter object. For more information, see Scatter Properties.

    Version History

    Introduced in R2024a

    See Also

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