show

Visualize dynamic evidential grid map

Since R2021a

Syntax

show(map)

show(map,Name,Value)

Description

show(map) plots the dynamic occupancy grid map in local coordinates. The static cells are shown using grayscale images, in which the grayness represents the occupancy probability of the cell. The dynamic cells are shown using HSV (hue, saturation, and value) values on an RGB colormap:

• Hue — The orientation angle of the velocity vector divided by 360. As hue increases from 0 to 1, the color changes in the order of red to orange, yellow, green, cyan, blue, magenta, and back to red.

• Saturation — The Mahalanobis distance (d) between the velocity distribution of the grid cell and the zero velocity. A cell with d > 4 is drawn with full saturation.

• Value — The occupancy probability of the cell.

show(map,Name,Value) specifies options using one or more name-value pair arguments. Enclose each Name in quotes. For example, show(myMap,'PlotVelocity',true) plots the dynamic map for myMap with velocity plotting enabled.

Examples

Show Evidential Grid Map

Load a dynamicEvidentialGridMap object from a data file.

load gridMapData.mat
map

map = 
  dynamicEvidentialGridMap with properties:

    NumStateVariables: 4
          MotionModel: 'constant-velocity'
           GridLength: 100
            GridWidth: 100
       GridResolution: 1
    GridOriginInLocal: [-50 -50]

Show the grid map.

figure
show(map)

Show the grid map with velocity plotted and color inverted.

figure
show(map,'PlotVelocity',true,'InvertColors',true)

Input Arguments

map — Dynamic evidential grid map

dynamicEvidentialGridMap object

Dynamic evidential grid map, specified as a dynamicEvidentialGridMap 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: showDynamicMap(myTracker,'PlotVelocity',false) plots the dynamic map for myTracker with velocity plotting enabled.

PlotVelocity — Enable velocity plotting

false (default) | true

Enable velocity plotting, specified as true or false. When specified as true, the velocity vector for each dynamic cell is plotted at the center of the grid cell. The length of the plotted vector represents the magnitude of the velocity.

Parent — Parent axes

gca (default) | axes handle

Parent axes on which to plot the map, specified as an axes handle.

FastUpdate — Enable updating from previous map

true (default) | false

Enable updating from previous map, specified as true or false. When specified as true, the function plots the map via a lightweight update to the previous map in the figure. When specified as false, the function plots a new map on the figure every time.

InvertColors — Enable inverted colors

false (default) | true

Enable inverted colors on the map, specified as true or false. When specified as false, the function plots empty space in white and occupied space in black. When specified as true, the function plots empty space in black and occupied space in white.

Extended Capabilities

C/C++ Code Generation

Generate C and C++ code using MATLAB® Coder™.

Usage notes and limitations:

• The show object function always plots on the current axes in MEX code generation. Use axes(axHandle) to define the axes represented by axHandle as the current axes.

Version History

Introduced in R2021a