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inflate

Inflate each occupied location

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Syntax

inflate(map3D,radius)

Description

inflate(map3D,radius) inflates each occupied position of the specified occupancyMap3D object by the radius specified in meters. radius is rounded up to the nearest equivalent cell based on the resolution of the map. This inflation increases the size of the occupied locations in the map.

example

Examples

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Open Live Script

Import a 3-D occupancy map.

map3D = importOccupancyMap3D("citymap.ot")
map3D = 
  occupancyMap3D with properties:

    ProbabilitySaturation: [1.0000e-03 0.9990]
               Resolution: 1
        OccupiedThreshold: 0.6500
            FreeThreshold: 0.2000

Inflate the occupied areas by a radius of 1 m. Display the map.

inflate(map3D,1)
show(map3D)

Find the intersection points of rays and occupied map cells.

numRays = 10;
angles = linspace(-pi/2,pi/2,numRays);
directions = [cos(angles); sin(angles); zeros(1,numRays)]';
sensorPose = [55 40 1 1 0 0 0];
maxrange = 15;
[intersectionPts,isOccupied] = rayIntersection(map3D,sensorPose,directions,maxrange)
intersectionPts = 10×3

   55.0000   32.0000    1.0000
   57.9118   32.0000    1.0000
   61.7128   32.0000    1.0000
   67.9904   32.5000    1.0000
   69.0000   37.5314    1.0000
   69.0000   42.4686    1.0000
   67.9904   47.5000    1.0000
   64.6418   51.4907    1.0000
   58.2757   49.0000    1.0000
   55.0000   49.0000    1.0000


isOccupied = 10×1

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

Plot the intersection points and plot rays from the pose to the intersection points.

hold on
plotTransforms(sensorPose(1:3),sensorPose(4:end),...
               'FrameSize',5,'MeshFilePath','groundvehicle.stl') % Vehicle sensor pose
for i = 1:numRays
    plot3([sensorPose(1),intersectionPts(i,1)],...
          [sensorPose(2),intersectionPts(i,2)],...
          [sensorPose(3),intersectionPts(i,3)],'-b') % Plot rays
    if isOccupied(i) == 1
        plot3(intersectionPts(i,1),intersectionPts(i,2),intersectionPts(i,3),'*r') % Intersection points
    end
end

Figure contains an axes object. The axes object with title Occupancy Map, xlabel X [meters], ylabel Y [meters] contains 22 objects of type patch, line. One or more of the lines displays its values using only markers

Input Arguments

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3-D occupancy map, specified as an occupancyMap3D object.

Amount to inflate occupied locations, specified as a scalar. radius is rounded up to the nearest cell value.

Extended Capabilities

Version History

Introduced in R2019b

See Also

Classes

Functions