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

`transformTree`	Define coordinate frames and relative transformations (Since R2020b)
`getGraph`	Graph object representing tree structure (Since R2020b)
`copy`	Copy transform tree (Since R2020b)
`getTransform`	Get relative transform between frames (Since R2020b)
`info`	List all frame names and stored timestamps (Since R2020b)
`removeTransform`	Remove frame transform relative to its parent (Since R2020b)
`show`	Show transform tree (Since R2020b)
`updateTransform`	Update frame transform relative to its parent (Since R2020b)
`plotTransforms`	Plot 3-D transforms from translations and rotations

Waypoint Trajectories

`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)

Blocks

Coordinate Transformation Conversion

Convert to a specified coordinate transformation representation

Topics

Depth and Semantic Segmentation Visualization Using Unreal Engine Simulation
This example shows how to visualize depth and semantic segmentation data captured from a camera sensor in a simulation environment.
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

Featured Examples

Map Environment for Motion Planning Using UAV Lidar

Use a UAV with lidar sensor to create a 3D occupancy map for motion planning.

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Stereo Visual SLAM for UAV Navigation in 3D Simulation

Generate a map for a city block scene in an Unreal Engine environment using stereo visual simultaneous localization and mapping.

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