world2grid

Convert world coordinates to grid indices

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Syntax

ij = world2grid(map,xy)

Description

example

ij = world2grid(map,xy) converts an array of world coordinates, xy, to a [rows cols] array of grid indices, ij.

Examples

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Convert World Coordinates in Binary Occupancy Map to Grid Indices

This example uses:

Open Live Script

Create an empty binary occupancy map with a width and height of 10 meters.

map = binaryOccupancyMap(10,10);

Get grid indices from world coordinates.

[xWorld,yWorld] = meshgrid(0:0.5:2);
ij = world2grid(map,[xWorld(:) yWorld(:)]);

Create and Modify Binary Occupancy Grid

Open Live Script

Create a 10m x 10m empty map.

map = binaryOccupancyMap(10,10,10);

Set occupancy of world locations and show map.

x = [1.2; 2.3; 3.4; 4.5; 5.6];
y = [5.0; 4.0; 3.0; 2.0; 1.0];

setOccupancy(map, [x y], ones(5,1))
figure
show(map)

Figure contains an axes object. The axes object with title Binary Occupancy Grid, xlabel X [meters], ylabel Y [meters] contains an object of type image.

Inflate occupied locations by a given radius.

inflate(map, 0.5)
figure
show(map)

Figure contains an axes object. The axes object with title Binary Occupancy Grid, xlabel X [meters], ylabel Y [meters] contains an object of type image.

Get grid locations from world locations.

ij = world2grid(map, [x y]);

Set grid locations to free locations.

setOccupancy(map, ij, zeros(5,1), 'grid')
figure
show(map)

Figure contains an axes object. The axes object with title Binary Occupancy Grid, xlabel X [meters], ylabel Y [meters] contains an object of type image.