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show

Display binary occupancy map

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Syntax

show(map)
show(map,frame)
show(___,Name,Value)
mapImage = show(___)

Description

show(map) displays the binary occupancy grid map in the current axes.

show(map,frame) displays the binary occupancy grid map in the current axes, with the axes labels representing the specified reference frame.

show(___,Name,Value) specifies additional options specified by one or more name-value pair arguments.

example

mapImage = show(___) returns the handle to the image object created by show.

Examples

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Open Live Script

This example shows how to move a local egocentric map and sync it with a larger world map. This process emulates a vehicle driving in an environment and getting updates on obstacles in the new areas.

Load example maps. Create a binary occupancy map from the complexMap.

load exampleMaps.mat
map = binaryOccupancyMap(complexMap);
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.

Create a smaller local map.

mapLocal = binaryOccupancyMap(complexMap(end-20:end,1:20));
show(mapLocal)

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.

Follow a path planned in the world map and update the local map as you move your local frame.

Specify path locations and plot on the map.

path = [5 2
        8 2
        8 8
        30 8];
show(map)
hold on
plot(path(:,1),path(:,2))
hold off

Figure contains an axes object. The axes object with title Binary Occupancy Grid, xlabel X [meters], ylabel Y [meters] contains 2 objects of type image, line.

Create a loop for moving between points by the map resolution. Divide the difference between points by the map resolution to see how many incremental moves you can make.

for i = 1:length(path)-1
    moveAmount = (path(i+1,:)-path(i,:))/map.Resolution;
    for j = 1:abs(moveAmount(1)+moveAmount(2))
        moveValue = sign(moveAmount).*map.Resolution;
        move(mapLocal,moveValue, ...
            "MoveType","relative","SyncWith",map)
 
        show(mapLocal)
        drawnow limitrate
        pause(0.2)
    end
end

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.

Input Arguments

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Map representation, specified as a binaryOccupancyMap object. This object represents the environment of the vehicle.

Map representation, specified as a binaryOccupancyMap object. This object represents the environment of the vehicle.

Map reference frame, specified as either "world", "local", or "grid". The map axes labels represent the specified reference frame.

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: 'Parent',axHandle

Axes to plot the map specified as either an Axes or UIAxesobject. See axes or uiaxes.

Update existing map plot, specified as 0 or 1. If you previously plotted your map on your figure, set to 1 for a faster update to the figure. This is useful for updating the figure in a loop for fast animations.

Version History

Introduced in R2015a

See Also

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