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Height of surfaces in tracking scenario

Since R2022a



h = height(manager,positions) returns the heights at the specified positions of the surfaces managed by the specified surface manager.


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Create a tracking scenario object.

scene = trackingScenario;

Specify the terrain as magic(4) and define the boundary of the terrain as a square centered at the origin.

terrain = magic(4)
terrain = 4×4

    16     2     3    13
     5    11    10     8
     9     7     6    12
     4    14    15     1

boundary = [-100 100; -100 100];

Obtain the surface manager object.

manager = scene.SurfaceManager
manager = 
  SurfaceManager with properties:

    UseOcclusion: 1
        Surfaces: [1x1 fusion.scenario.GroundSurface]

Get the heights of the surface at the origin and its four corners.

height0 = height(manager,[0 0]')
height0 = 8.5000
height1 = height(manager,[-100 -100]')
height1 = 16
height2 = height(manager,[-100 100]')
height2 = 4
height3 = height(manager,[100 -100]')
height3 = 13
height4 = height(manager,[100 100]')
height4 = 1

Input Arguments

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Surface manager, specified as a SurfaceManager object.

Positions of the surface to query, specified as a 2-by-N matrix of real values or a 3-by-N matrix of real values, where N is the number of positions.

If the IsEarthCentered property of the tracking scenario is specified as:

  • false — Each column of a 2-by-N matrix represents the x- and y-coordinates of a position in meters. Each column of a 3-by-N matrix represents the x-, y-, and z-coordinates of a position in meters. Note that the z-coordinate is irrelevant for surface height querying.

  • true — Each column of the 2-by-N matrix represents the latitude and longitude of a position in degrees, in the geodetic frame. Each column of the 3-by-N matrix represents the latitude in degrees, longitude in degrees, and altitude in degrees of a position, in the geodetic frame. Note that the altitude is irrelevant for surface height querying.

Output Arguments

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Heights of queried positions, returned as an N-element vector of real values in meters, where N is the number of queried positions.

Version History

Introduced in R2022a