vehicleCostmap function inverts my data from lidar sensor

Hello, I used the vehicleCostmap function to create a map for path planning. The problem is this function is inverting my data vertically.

I tried using set(gca,'YDir','reverse') however when using this, the y axis information is also the other way round so the 'coordinates' are not actually correct.

This is my lidar data displayed using surf.

This is the costmap created using the vehicleCostmap function.

This is the costmap when I use set(gca,'YDir','reverse'), using this the points are in the right place but the coordinates value are also "inverted" (shown in a blue rectangle).

Is there a way to make the vehicleCostMap function display my lidar data in the 'correct' direction?

The lidar data consists of a double matrix of zeros and ones, where zero (dark blue) is empty and one (yellow) is an obstacle.

Answer 1

[Ranjeet]

Hi Jian,

Can you provide the MATLAB version you are using. I tried to run the following code in MATLAB R2022b, and there is no costmap inversion.

% example lidar data as indicated in the question
lidar_data = zeros(400, 400);
lidar_data(200:256, 200:220) = 1;
lidar_data(100:156, 50:78) = 1;
lidar_data(132:156, 1:78) = 1;
  
imshow(lidar_data);

  
% create vehicle costmap
costf = vehicleCostmap(lidar_data);
figure;
plot(costf);