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

Since R2020a



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


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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.


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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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

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

Version History

Introduced in R2020a