checkOccupancy

Check if locations are free or occupied

Syntax

iOccval = checkOccupancy(map3D,xyz)

Description

iOccval = checkOccupancy(map3D,xyz) returns an array of occupancy values specified at the xyz locations using the OccupiedThreshold and FreeThreshold properties of the input occupancyMap3D object. Each row is a separate xyz location in the map to check the occupancy of. Occupancy values can be obstacle-free (0), occupied (1), or unknown (–1).

Examples

Check Occupancy Status and Get Occupancy Values in 3-D Occupancy Map

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

Input Arguments

map3D — 3-D occupancy map

occupancyMap3D object

3-D occupancy map, specified as an occupancyMap3D object.

xyz — World coordinates

n-by-3 matrix

World coordinates, specified as an n-by-3 matrix of [x y z] points, where n is the number of world coordinates.

Output Arguments

iOccval — Interpreted occupancy values

column vector

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

Occupancy values can be obstacle-free (0), occupied (1), or unknown (–1). These values are determined from the actual probability values and the OccupiedThreshold and FreeThreshold properties of the map3D object.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using MATLAB® Coder™.

Version History

Introduced in R2019b