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checkOccupancy

Check if locations are free or occupied

Description

example

iOccval = checkOccupancy(map3D,xyz) returns an array of occupancy values specified at the xyz locations using the OccupiedThreshold and FreeThreshold properties of the input occupancyMap3D object. Each row is a separate xyz location in the map to check the occupancy of. Occupancy values can be obstacle-free (0), occupied (1), or unknown (–1).

Examples

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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.

show(map3D)

Figure contains an axes object. The axes object with title Occupancy Map 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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3-D occupancy map, specified as an occupancyMap3D object.

World coordinates, specified as an n-by-3 matrix of [x y z] points, where n is the number of world coordinates.

Output Arguments

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Interpreted occupancy values, returned as a column vector with the same length as xyz.

Occupancy values can be obstacle-free (0), occupied (1), or unknown (–1). These values are determined from the actual probability values and the OccupiedThreshold and FreeThreshold properties of the map3D object.

Introduced in R2019b