# inflate

Inflate each occupied location

## Syntax

``inflate(map3D,radius)``

## Description

````inflate(map3D,radius)` inflates each occupied position of the specified `occupancyMap3D` object by the `radius` specified in meters. `radius` is rounded up to the nearest equivalent cell based on the resolution of the map. This inflation increases the size of the occupied locations in the map.```

example

## Examples

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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 ```

Inflate the occupied areas by a radius of 1 m. Display the map.

```inflate(map3D,1) show(map3D)```

Find the intersection points of rays and occupied map cells.

```numRays = 10; angles = linspace(-pi/2,pi/2,numRays); directions = [cos(angles); sin(angles); zeros(1,numRays)]'; sensorPose = [55 40 1 1 0 0 0]; maxrange = 15; [intersectionPts,isOccupied] = rayIntersection(map3D,sensorPose,directions,maxrange)```
```intersectionPts = 10×3 55.0000 32.0000 1.0000 57.9118 32.0000 1.0000 61.7128 32.0000 1.0000 67.9904 32.5000 1.0000 69.0000 37.5314 1.0000 69.0000 42.4686 1.0000 67.9904 47.5000 1.0000 64.6418 51.4907 1.0000 58.2757 49.0000 1.0000 55.0000 49.0000 1.0000 ```
```isOccupied = 10×1 1 1 1 -1 1 1 -1 -1 1 1 ```

Plot the intersection points and plot rays from the pose to the intersection points.

```hold on plotTransforms(sensorPose(1:3),sensorPose(4:end),... 'FrameSize',5,'MeshFilePath','groundvehicle.stl') % Vehicle sensor pose for i = 1:numRays plot3([sensorPose(1),intersectionPts(i,1)],... [sensorPose(2),intersectionPts(i,2)],... [sensorPose(3),intersectionPts(i,3)],'-b') % Plot rays if isOccupied(i) == 1 plot3(intersectionPts(i,1),intersectionPts(i,2),intersectionPts(i,3),'*r') % Intersection points end end```

## Input Arguments

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

Amount to inflate occupied locations, specified as a scalar. `radius` is rounded up to the nearest cell value.

## Version History

Introduced in R2019b