importOccupancyMap3D

Import octree or binary tree file as 3-D occupancy map

Syntax

map3D = importOccupancyMap3D(mapPath)

Description

map3D = importOccupancyMap3D(mapPath) imports the octree file (.ot) or binary tree file (.bt) specified at the relative or absolute file path, mapPath

Examples

Check Occupancy Status and Get Occupancy Values in 3-D Occupancy Map

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

Display the map.

show(map3D)

Check the occupancy statuses of different locations and get their occupancy values.

iOccVal1 = checkOccupancy(map3D,[50 15 0])

iOccVal1 = 
0

OccVal1 = getOccupancy(map3D,[50 15 0])

OccVal1 = 
0.0019

iOccVal2 = checkOccupancy(map3D,[50 15 15])

iOccVal2 = 
1

OccVal2 = getOccupancy(map3D,[50 15 15])

OccVal2 = 
0.6500

iOccVal3 = checkOccupancy(map3D,[50 15 45])

iOccVal3 = 
-1

OccVal3 = getOccupancy(map3D,[50 15 45])

OccVal3 = 
0.5000

Input Arguments

mapPath — Absolute or relative path to octree or binary tree file

string scalar | character vector

Absolute or relative path to octree file (.ot) or binary tree file (.bt) , specified as a string scalar or character vector.

Example: "path/to/file/map.ot"

Data Types: char | string

Output Arguments

map3D — 3-D occupancy map

occupancyMap3D object

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

Version History

Introduced in R2020a