inflate

Inflate each occupied location

Syntax

inflate(map3D,radius)

Description

inflate(map3D,radius) inflates each occupied position of the specified occupancyMap3D object by the radius specified in meters. radius is rounded up to the nearest equivalent cell based on the resolution of the map. This inflation increases the size of the occupied locations in the map.

Examples

Get Ray Intersection Points on 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

Inflate the occupied areas by a radius of 1 m. Display the map.

inflate(map3D,1)
show(map3D)

Find the intersection points of rays and occupied map cells.

numRays = 10;
angles = linspace(-pi/2,pi/2,numRays);
directions = [cos(angles); sin(angles); zeros(1,numRays)]';
sensorPose = [55 40 1 1 0 0 0];
maxrange = 15;
[intersectionPts,isOccupied] = rayIntersection(map3D,sensorPose,directions,maxrange)

intersectionPts = 10×3

   55.0000   32.0000    1.0000
   57.9118   32.0000    1.0000
   61.7128   32.0000    1.0000
   67.9904   32.5000    1.0000
   69.0000   37.5314    1.0000
   69.0000   42.4686    1.0000
   67.9904   47.5000    1.0000
   64.6418   51.4907    1.0000
   58.2757   49.0000    1.0000
   55.0000   49.0000    1.0000

isOccupied = 10×1

     1
     1
     1
    -1
     1
     1
    -1
    -1
     1
     1

Plot the intersection points and plot rays from the pose to the intersection points.

hold on
plotTransforms(sensorPose(1:3),sensorPose(4:end),...
               'FrameSize',5,'MeshFilePath','groundvehicle.stl') % Vehicle sensor pose
for i = 1:numRays
    plot3([sensorPose(1),intersectionPts(i,1)],...
          [sensorPose(2),intersectionPts(i,2)],...
          [sensorPose(3),intersectionPts(i,3)],'-b') % Plot rays
    if isOccupied(i) == 1
        plot3(intersectionPts(i,1),intersectionPts(i,2),intersectionPts(i,3),'*r') % Intersection points
    end
end

Input Arguments

map3D — 3-D occupancy map

occupancyMap3D object

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

radius — Amount to inflate occupied locations

scalar

Amount to inflate occupied locations, specified as a scalar. radius is rounded up to the nearest cell value.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

inflate does not support code generation using the packNGo (MATLAB Coder) function if you set the packType argument to "flat".

Version History

Introduced in R2019b