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getOccupancy

Get occupancy probability of locations

Since R2019b

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Syntax

occval = getOccupancy(map3D,xyz)

Description

example

occval= getOccupancy(map3D,xyz)returns an array of probability occupancy values at the specifiedxyzlocations in theoccupancyMap3Dobject. Values close to 1 represent a high certainty that the cell contains an obstacle. Values close to 0 represent certainty that the cell is not occupied and obstacle-free.

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

Display the map.

show(map3D)

Figure contains an axes object. The axes object with title Occupancy Map, xlabel X [meters], ylabel Y [meters] contains an object of type patch.

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

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3-D occupancy map, specified as anoccupancyMap3Dobject.

World coordinates, specified as ann3矩阵of[x y z]points, wherenis the number of world coordinates.

Output Arguments

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Probability occupancy values, returned as a column vector with the same length asxyz.

Values close to 0 represent certainty that the cell is not occupied and obstacle-free.

Version History

Introduced in R2019b

See Also

Classes

Functions