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getOccupancy

Get occupancy probability of locations

Description

example

occval = getOccupancy(map3D,xyz) returns an array of probability occupancy values at the specified xyz locations in the occupancyMap3D object. Values close to 1 represent a high certainty that the cell contains an obstacle. Values close to 0 represent certainty that the cell is not occupied and obstacle-free.

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

Values close to 0 represent certainty that the cell is not occupied and obstacle-free.

Introduced in R2019b