Insert 3-D points or point cloud observation into map
inserts one or more sensor observations at the given
in the occupancy map,
map3D. Occupied points are updated
with an observation of 0.7. All other points between the sensor
points are treated as
obstacle-free and updated with an observation of 0.4. Points outside
maxrange are not updated.
map3D— 3-D occupancy map
3-D occupancy map, specified as a
points— Points of point cloud
Points of point cloud in sensor coordinates, specified as an
n-by-3 matrix of
[x y z] points,
where n is the number of points in the point
ptcloud— Point cloud reading
Point cloud reading, specified as a
pointCloud objects requires Computer Vision Toolbox™.
pose— Position and orientation of vehicle
[x y z qw qx qy qz]vector
Position and orientation of vehicle, specified as an
[x y z qw qx
qy qz] vector. The vehicle pose is an
xyz-position vector with a quaternion orientation vector
[qw qx qy qz].
maxrange— Maximum range of sensor
Maximum range of point cloud sensor, specified as a scalar. Points outside this range are ignored.