Import an octree file as 3D occupancy map
map3D = occupancyMap3D;
Create a ground plane and set occupancy values to 0.
[xGround,yGround,zGround] = meshgrid(0:100,0:100,0); xyzGround = [xGround(:) yGround(:) zGround(:)]; occval = 0; setOccupancy(map3D,xyzGround,occval)
Create obstacles in specific world locations of the map.
[xBuilding1,yBuilding1,zBuilding1] = meshgrid(20:30,50:60,0:30); [xBuilding2,yBuilding2,zBuilding2] = meshgrid(50:60,10:30,0:40); [xBuilding3,yBuilding3,zBuilding3] = meshgrid(40:60,50:60,0:50); [xBuilding4,yBuilding4,zBuilding4] = meshgrid(70:80,35:45,0:60); xyzBuildings = [xBuilding1(:) yBuilding1(:) zBuilding1(:);... xBuilding2(:) yBuilding2(:) zBuilding2(:);... xBuilding3(:) yBuilding3(:) zBuilding3(:);... xBuilding4(:) yBuilding4(:) zBuilding4(:)];
Update the obstacles with new probability values and display the map.
obs = 0.65; updateOccupancy(map3D,xyzBuildings,obs) show(map3D)
Check if the map file named
citymap.ot already exist in the current directory and delete it before creating the map file.
if exist("citymap.ot",'file') delete("citymap.ot") end
Export the map as an octree file.
filePath = fullfile(pwd,"citymap.ot"); exportOccupancyMap3D(map3D,filePath)
map3D— 3-D occupancy map
3-D occupancy map, specified as a
filename— Absolute or relative path to octree file
Absolute or relative path to octree file (
.ot/bt), specified as a
string scalar or character vector.