show
Description
show(
specifies one or more options using one or more name-value arguments.mTSDF
,Name=Value
)
optionally returns
the figure handle.h
= show(___)
Examples
Add Meshes to Mesh TSDF Manager
Create two collision boxes and one collision sphere. The collision boxes represent a static environment and the sphere represents a dynamic obstacle with a pose that could change at any time.
box1 = collisionBox(0.5,1,0.1);
box2 = collisionBox(0.5,0.1,0.2,Pose=trvec2tform([0 -0.45 0.15]));
sph = collisionSphere(0.125,Pose=trvec2tform([-0.1 0.25 0.75]));
showCollisionArray({box1,box2,sph});
title("Static Environment and Dynamic Obstacle")
v = [110 10];
view(v);
Create a mesh TSDF manager with a resolution of 25 cells per meter.
tsdfs = meshtsdf(Resolution=25);
To improve the efficiency of signed distance field computation, combine meshes that represent the static environment.
staticMeshes = geom2struct({box1,box2}); staticEnv = staticMeshes(1); staticEnv.Pose = eye(4); staticEnv.Vertices = []; staticEnv.Faces = []; for i = 1:numel(staticMeshes) H = staticMeshes(i).Pose; V = staticMeshes(i).Vertices*H(1:3,1:3)'+ H(1:3,end)'; nVert = size(staticEnv.Vertices,1); staticEnv.Vertices = [staticEnv.Vertices; V]; staticEnv.Faces = [staticEnv.Faces; staticMeshes(i).Faces+nVert]; end staticEnv.ID = 1;
Add the static environment mesh to the TSDF manager.
addMesh(tsdfs,staticEnv);
Convert the sphere collision geometry into a structure for the mesh TSDF manager. Assign it an ID of 2 and add it to the mesh TSDF manager.
obstacleID = 2; dynamicObstacle = geom2struct(sph,obstacleID); addMesh(tsdfs,dynamicObstacle); show(tsdfs) view(v) axis equal title("Mesh TSDFs of Static Environment and Dynamic Obstacle")
Update the pose of the dynamic obstacle in the mesh TSDF manager by changing Pose
property of the object handle of the obstacle. Then use the updatePose
function to update the pose of the mesh in the TSDF manager.
dynamicObstacle.Pose = trvec2tform([0.2 0.25 0.2]); updatePose(tsdfs,dynamicObstacle)
ans = 1
show(tsdfs) view(v) axis equal title("Updated Dynamic Obstacle Pose")
Input Arguments
mTSDF
— Truncated signed distance field for 3-D meshes
meshtsdf
object
Truncated signed distance field for 3-D meshes, specified as a meshtsdf
object.
Example: meshtsdf(meshes,TruncationDistance=5)
creates a TSDF for the
specified meshes with a truncation distance of 5
meters.
Name-Value Arguments
Specify optional pairs of arguments as
Name1=Value1,...,NameN=ValueN
, where Name
is
the argument name and Value
is the corresponding value.
Name-value arguments must appear after other arguments, but the order of the
pairs does not matter.
Example: show(tsdf,MeshID=[2 3])
plots the active voxels for meshes in
the TSDF with IDs 2
and 3
.
Parent
— Parent axes
gca
| Axes
object
Parent axes, specified as an Axes
object in which to plot the
active voxels of mTSDF
. By default the function plots the active
voxels in the active axes. For more information, see Axes Properties.
MeshID
— ID of mesh in TSDF to visualize
nonnegative integer | N-element vector of nonnegative integers
ID of mesh in TSDF to visualize, specified as a nonnegative integer or N-element vector of nonnegative integers. N is the total number of meshes to show.
Example: show(tsdf,MeshID=2)
plots active voxels from the mesh
in the TSDF with the ID 2
.
Example: show(tsdf,MeshID=[1 2 3])
plots active voxels from
meshes in the TSDF with the IDs 1
, 2
, and
3
.
IsoRange
— Range of distance values to plot
[-inf inf]
(default) | two-element vector
Range of distance values to plot, specified as a two-element vector in the form [MinDistVal MaxDistVal]. An active voxel must have a distance value in the range [MinDistVal, MaxDistVal] to be plotted. MaxDistVal must be a greater value than MinDistVal.
Example: show(tsdf,IsoRange=[-2 2])
plots active voxels
containing distance values between -2
and 2
from
all meshes in the TSDF.
Colorbar
— Colorbar for voxel distance values
"off"
(default) | "on"
Colorbar for the voxel distance values, specified as either
"off"
or "on"
. For more information about
colorbars, see ColorBar Properties
.
Example: show(sdm,Colorbar="on")
FastUpdate
— Fast updates to existing map plot
0
(false
) (default) | 1
(true
)
Fast updates to existing map plot, specified as a logical 0
(false
) or 1
(true
). If you
previously plotted your map on your figure, set to 1
for a faster
update to the figure. This is useful for updating the figure in a loop for fast
animations.
Output Arguments
h
— Scatter plot of active voxels
Scatter
object
Scatter plot of active voxels, returned as a Scatter
object. For
more information, see Scatter Properties.
Version History
Introduced in R2024a
See Also
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