groundSurface
Description
adds a surface
= groundSurface(sc
)GroundSurface
object, surface
, to the tracking scenario
sc
.
specifies properties of the created surface
= groundSurface(sc
,Name=Value
)GroundSurface
object using one or more
name-value arguments. For example, groundSurface(sc,ReferenceHeight=10)
specifies the reference height of the ground surface as 10 meters. Unspecified properties
take default values.
Examples
Create Ground Surface in Tracking Scenario
Create a mesh grid that spans from -1000 meters to 1000 meters in both the x- and y-directions.
[x,y] = meshgrid(linspace(-1000,1000,500));
Specify the height for each mesh grid point.
z = 200*cos(x*pi/2000).*cos(y*pi/2000);
Create a tracking scenario and add a ground surface object to the tracking scenario. Specify the boundary of the surface area.
scene = trackingScenario; surface = groundSurface(scene,Terrain=z,Boundary=[-1e3 1e3; -1e3 1e3])
surface = GroundSurface with properties: Terrain: [500x500 double] ReferenceHeight: 0 Boundary: [2x2 double]
Note that the SurfaceManager
property of the tracking scenario now contains the created GroundSurface
object.
manager = scene.SurfaceManager
manager = SurfaceManager with properties: UseOcclusion: 1 Surfaces: [1x1 fusion.scenario.GroundSurface]
manager.Surfaces
ans = GroundSurface with properties: Terrain: [500x500 double] ReferenceHeight: 0 Boundary: [2x2 double]
Visualize the surface using the helperGetTerrainMap
helper function, attached to this example.
xSamples = linspace(-1e3,1e3,100); ySamples = linspace(-1e3,1e3,100); helperGetTerrainMap(surface,xSamples,ySamples); xlabel("x (m)") ylabel("y (m)") zlabel("Height (m)")
Create Ground Surface Using DTED File
Create a tracking scenario and specify its IsEarthCentered
property as true
.
scene = trackingScenario(IsEarthCentered=true);
Add a ground surface based on a DTED file, covering from 6 to 7 degrees in latitude and from 1 to 2 degrees in longitude.
terrain = "n06.dt0"; boundary = [6 7; % Latitude in degrees 1 2]; % Longitude in degrees surface = groundSurface(scene,Terrain=terrain,Boundary=boundary);
Sample the area using a 100-by-100 grid map.
samples = 100; latitudes = linspace(6,7,samples); longitudes = linspace(1,2,samples); positions = [latitudes; longitudes];
Plot the terrain using the helperGetTerrrainMap
helper function, attached to this example.
helperGetTerrainMap(surface,latitudes,longitudes); xlabel("Latitude (Degrees)"); ylabel("Longitude (Degrees)"); zlabel("Height (Meters)");
Input Arguments
sc
— Tracking scenario
trackingScenario
object
Tracking scenario, specified as a trackingScenario
object.
Name-Value Arguments
Specify optional pairs of arguments as
Name1=Value1,...,NameN=ValueN
, where Name
is
the argument name and Value
is the corresponding value.
Name-value arguments must appear after other arguments, but the order of the
pairs does not matter.
Before R2021a, use commas to separate each name and value, and enclose
Name
in quotes.
Example: surface = groundSurface(sc,ReferenceHeight=10)
Terrain
— Terrain data for surface
[]
(default) | M-by-N real-valued matrix | string scalar specifying DTED file name | character vector specifying DTED file name
Terrain data for the surface, specified as an M-by-N real-valued matrix, or a string scalar specifying a Digital Terrain Elevation Data (DTED) file name.
M-by-N real-valued matrix — The matrix values represent the height data of an area defined by the
Boundary
property of the ground surface object. The object extends the height data in the matrix to the area. The object automatically fills heights of unspecified points using linear interpolation. M and N must both be greater than 3.String scalar or character vector specifying DTED file name — To use this option, you must specify the
IsEarthCentered
property of the tracking scenario astrue
. In this case, the object specifies the terrain heights for the area using those defined in the DTED file. The ground surface object automatically fills unspecified data in the DTED file using linear interpolation. If you want to use only a part of the terrain defined in the DTED file, specify theBoundary
property as your desired subset of the terrain area defined in the DTED file. Otherwise, specify theBoundary
property as the whole area defined in the DTED file.
Data Types: single
| double
| char
Boundary
— Boundary of surface
[-Inf Inf; -Inf Inf]
(default) | 2-by-2 matrix of real values
Boundary of the surface, specified as a 2-by-2 matrix of real values with the form
[xmin xmax; ymin ymax]
. When the
IsEarthCentered
property of tracking scenario object is
specified as:
false
— Specifyxmin
,xmax
,ymin
ymax
, in meters, as Cartesian coordinates in the reference frame of the scenario, wherexmin
<xmax
, andymin
<ymax
true
— Specifyxmin
andxmax
as the minimum and maximum latitudes of the geodetic frame in degrees, wherexmin
<xmax
. Specifyymin
andymax
as the minimum and maximum longitudes of the geodetic frame in degrees. Ifymax
<ymin
, the object wrapsymax
toymax
+360
.
Data Types: single
| double
ReferenceHeight
— Reference height
0
(default) | scalar
Reference height of the terrain data, specified as a scalar in meters. Specify the terrain data relative to this reference height.
Data Types: single
| double
Output Arguments
surface
— Ground surface
GroundSurface
object
Ground surface, returned as a GroundSurface
object.
Version History
Introduced in R2022a
See Also
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