exportOccupancyMap3D

Import an octree file as 3D occupancy map

Syntax

exportOccupancyMap3D(map3D,filename)

Description

exportOccupancyMap3D(map3D,filename) serializes the 3D occupancy map, map3D, into either an octree or binary tree file (.ot/bt) specified at the file location and name, filename

Examples

Create and Export 3-D Occupancy Map

Create an occupancyMap3D object.

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)

Input Arguments

map3D — 3-D occupancy map

occupancyMap3D object

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

filename — Absolute or relative path to octree file

string scalar | character vector

Absolute or relative path to octree file (.ot/bt), specified as a string scalar or character vector.

Example: "path/to/file/map.ot"

Data Types: char | string

Version History

Introduced in R2020a