transformScan

Transform laser scan based on relative pose

Since R2021a

Syntax

transScan = transformScan(scan,relPose)

[transRanges,transAngles] = transformScan(ranges,angles,relPose)

Description

transScan = transformScan(scan,relPose) transforms the laser scan specified in scan by using the specified relative pose, relPose.

[transRanges,transAngles] = transformScan(ranges,angles,relPose) transforms the laser scan specified in ranges and angles by using the specified relative pose, relPose.

Examples

Transform Laser Scans

Create a lidarScan object. Specify the ranges and angles as vectors.

refRanges = 5*ones(1,300);
refAngles = linspace(-pi/2,pi/2,300);
refScan = lidarScan(refRanges,refAngles);

Translate the laser scan by an [x y] offset of (0.5,0.2).

transformedScan = transformScan(refScan,[0.5 0.2 0]);

Rotate the laser scan by 20 degrees.

rotateScan = transformScan(refScan,[0,0,deg2rad(20)]);

Input Arguments

scan — Lidar scan readings

lidarScan object

Lidar scan readings, specified as a lidarScan object.

ranges — Range values from scan data

vector

Range values from scan data, specified as a vector in meters. These range values are distances from a sensor at specified angles. The vector must be the same length as the corresponding angles vector.

angles — Angle values from scan data

vector

Angle values from scan data, specified as a vector in radians. These angle values are the specific angles of the specified ranges. The vector must be the same length as the corresponding ranges vector.

relPose — Relative pose of current scan

[x y theta]

Relative pose of current scan, specified as [x y theta], where [x y] is the translation in meters and theta is the rotation in radians.

Output Arguments

transScan — Transformed lidar scan readings

lidarScan object

Transformed lidar scan readings, specified as a lidarScan object.

transRanges — Range values of transformed scan

vector

Range values of transformed scan, returned as a vector in meters. These range values are distances from a sensor at specified transAngles. The vector is the same length as the corresponding transAngles vector.

transAngles — Angle values from scan data

vector

Angle values of transformed scan, returned as a vector in radians. These angle values are the specific angles of the specified transRanges. The vector is the same length as the corresponding ranges vector.

Extended Capabilities

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

Version History

Introduced in R2021a