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Import octree or binary tree file as 3-D occupancy map
Since R2020a
map3D = importOccupancyMap3D(mapPath)
map3D = importOccupancyMap3D(mapPath) imports the octree file (.ot) or binary tree file (.bt) specified at the relative or absolute file path, mapPath
map3D
mapPath
.ot
.bt
example
collapse all
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)
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
Absolute or relative path to octree file (.ot) or binary tree file (.bt) , specified as a string scalar or character vector.
Example: "path/to/file/map.ot"
"path/to/file/map.ot"
Data Types: char | string
char
string
occupancyMap3D
3-D occupancy map, specified as a occupancyMap3D object.
Introduced in R2020a
lidarSLAM
occupancyMap
insertPointCloud
inflate
setOccupancy
show
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