Data Processing and Visualization

Convert coordinate frames, generate trajectories, visualize point clouds and transformations

Use the data processing and visualization functions as utility functions that convert between different coordinate systems, generate trajectories from waypoints, or visualize data like point clouds or UAV poses.

Functions

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Axis-Angles

`axang2quat`	Convert axis-angle rotation to quaternion
`axang2rotm`	Convert axis-angle rotation to rotation matrix
`axang2tform`	Convert axis-angle rotation to homogeneous transformation

Coordinate Conversions

`angdiff`	Difference between two angles
`cart2hom`	Convert Cartesian coordinates to homogeneous coordinates
`hom2cart`	Convert homogeneous coordinates to Cartesian coordinates
`trvec2tform`	Convert translation vector to homogeneous transformation

Euler Angles

`eul2quat`	Convert Euler angles to quaternion
`eul2rotm`	Convert Euler angles to rotation matrix
`eul2tform`	Convert Euler angles to homogeneous transformation

Homogeneous Transformations

`se2`	SE(2) homogeneous transformation (Since R2022b)
`se3`	SE(3) homogeneous transformation (Since R2022b)
`tform2axang`	Convert homogeneous transformation to axis-angle rotation
`tform2eul`	Extract Euler angles from homogeneous transformation
`tform2quat`	Extract quaternion from homogeneous transformation
`tform2rotm`	Extract rotation matrix from homogeneous transformation
`tform2trvec`	Extract translation vector from homogeneous transformation

Latitude, Longitude, NED, and ENU

`enu2lla`	Transform local east-north-up coordinates to geodetic coordinates (Since R2020b)
`lla2enu`	Transform geodetic coordinates to local east-north-up coordinates (Since R2020b)
`lla2ned`	Transform geodetic coordinates to local north-east-down coordinates (Since R2020b)
`ned2lla`	Transform local north-east-down coordinates to geodetic coordinates (Since R2020b)

Quaternions

`quat2axang`	Convert quaternion to axis-angle rotation
`quat2eul`	Convert quaternion to Euler angles
`quat2rotm`	Convert quaternion to rotation matrix
`quat2tform`	Convert quaternion to homogeneous transformation
`quaternion`	Create quaternion array (Since R2020b)

Rotation Matrices

`so2`	SO(2) rotation (Since R2022b)
`so3`	SO(3) rotation (Since R2022b)
`rotm2axang`	Convert rotation matrix to axis-angle rotation
`rotm2eul`	Convert rotation matrix to Euler angles
`rotm2quat`	Convert rotation matrix to quaternion
`rotm2tform`	Convert rotation matrix to homogeneous transformation

Point Clouds

`pointCloud`	Object for storing 3-D point cloud (Since R2020b)
`pcplayer`	Visualize streaming 3-D point cloud data (Since R2020b)

Plot Transformations

plotTransforms Plot 3-D transforms from translations and rotations

Waypoint Trajectories

`waypointTrajectory`	Waypoint trajectory generator (Since R2020b)
`lookupPose`	Obtain pose information for certain time (Since R2020b)
`waypointInfo`	Get waypoint information table (Since R2020b)
`perturb`	Apply perturbations to object (Since R2020b)
`perturbations`	Perturbation defined on object (Since R2020b)
`minjerkpolytraj`	Generate minimum jerk trajectory through waypoints (Since R2021b)
`minsnappolytraj`	Generate minimum snap trajectory through waypoints (Since R2021b)

Blocks

Coordinate Transformation Conversion	Convert to a specified coordinate transformation representation
Minimum Jerk Polynomial Trajectory	Generate minimum jerk polynomial trajectories through multiple waypoints (Since R2022a)
Minimum Snap Polynomial Trajectory	Generate minimum snap polynomial trajectories through multiple waypoints (Since R2022a)

Topics

Choose a 3-D Coordinate System
Choose a coordinate transformation function based on your data.
Map and Classify Urban Environment Using UAV Camera and Deep Learning

Use a UAV with a camera to survey and develop an orthomosaic of an urban environment.
- STEP 1: Survey Urban Environment Using UAV
- STEP 2: Obtain Orthophotos from Central Perspective Images
- STEP 3: Semantic Segmentation of Orthophotos
- STEP 4: Create Orthomosaic from Orthophotos

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