getMapROI

Geographic bounding box coordinates from GPS data

Since R2022b

Syntax

mapParameters = getMapROI(lat,lon)

mapParameters = getMapROI(lat,lon,Extent=extent)

Description

mapParameters = getMapROI(lat,lon) computes the geographic bounding box coordinates using latitude and longitude GPS data, and returns the map parameters mapParameters.

mapParameters = getMapROI(lat,lon,Extent=extent) computes the map parameters with the specified GPS buffer extent.

Note

This function requires the Scenario Builder for Automated Driving Toolbox™ support package. You can install the Scenario Builder for Automated Driving Toolbox support package from the Add-On Explorer. For more information about installing add-ons, see Get and Manage Add-Ons.

Examples

Import OpenStreetMap Road Network Using Map ROI Parameters

Extract map ROI parameters from GPS data. Use the extracted osmUrl parameter to import roads from the OpenStreetMap® web service into a driving scenario. Then, plot the scenario.

Load GPS data containing latitude and longitude values into the workspace.

load("GPSData.mat")

Use the latitude and longitude to fetch the map parameters.

mapParameters = getMapROI(gps.lat,gps.lon);

Use the osmUrl parameter in the mapParameters output structure to import and save the OpenStreetMap file.

fileName = websave("drive_map.osm",mapParameters.osmUrl, ...
    weboptions(ContentType="xml"));

Import the roads from the OpenStreetMap road network file into a driving scenario.

scenario = drivingScenario;
roadNetwork(scenario,"OpenStreetMap",fileName)

Plot the scenario.

plot(scenario)

Import OpenStreetMap Road Network Using GPS Data and Extent

Extract map ROI parameters from GPS data by specifying GPS buffer extent. Use the extracted osmUrl parameter to import roads from the OpenStreetMap® web service into a driving scenario. Then, plot the scenario.

Load GPS data containing latitude and longitude values into the workspace.

load("GPSData.mat")

Specify the GPS buffer extent, in meters.

gpsBufferExtent = 10;

Use the latitude, longitude, and GPS buffer extent to fetch the map parameters.

mapParameters = getMapROI(gps.lat,gps.lon,Extent=gpsBufferExtent);

Use the osmUrl parameter in the mapParameters output structure to import and save the OpenStreetMap file.

fileName = websave("drive_map.osm",mapParameters.osmUrl, ...
    weboptions(ContentType="xml"));

Import the roads from the OpenStreetMap road network file into a driving scenario.

scenario = drivingScenario;
roadNetwork(scenario,"OpenStreetMap",fileName)

Plot the scenario.

plot(scenario)

Input Arguments

lat — Latitude coordinates

numeric vector

Latitude coordinates in degrees, specified as a numeric vector. Each value in the vector must be in the range [–90, 90]. lat must be the same size as lon.

Data Types: single | double

lon — Longitude coordinates

numeric vector

Longitude coordinates in degrees, specified as a numeric vector. Each value in the vector must be in the range [–180, 180]. lon must be the same size as lat.

Data Types: single | double

extent — GPS buffer extent

0 (default) | nonnegative scalar

GPS buffer extent, in meters, specified as a nonnegative scalar. This function extends the rectangular GPS bounding box in all directions by the specified extent value.

Data Types: single | double

Output Arguments

mapParameters — Map region of interest parameters

structure

Map region of interest (ROI) parameters, returned as a structure.

The structure contains these fields:

Property	Description
bufferInMeters	GPS buffer extent, returned as a nonnegative scalar. Units are in meters.
minLat	Minimum latitude, returned as a scalar. Units are in degrees.
maxLat	Maximum latitude, returned as a scalar. Units are in degrees.
minLon	Minimum longitude, returned as a scalar. Units are in degrees.
maxLon	Maximum longitude, returned as a scalar. Units are in degrees.
georeference	Reference GPS location, returned as a 3-element row vector of the form [latitude longitude altitude]. latitude and longitude values are in degrees, and longitude value is in meters. The function returns the georeference values latitude and longitude as the center of the bounding box specified by the input lat, lon, and extent values. The value of altitude is 0.
osmUrl	OpenStreetMap® URL, returned as a character vector.
minLatitudeString	Minimum latitude, returned as a character vector. Units are in degrees.
minLongitudeString	Minimum longitude, returned as a character vector. Units are in degrees.
maxLatitudeString	Maximum latitude, returned as a character vector. Units are in degrees.
maxLongitudeString	Maximum longitude, returned as a character vector. Units are in degrees.

The function computes the geographic bounding box coordinates using latitude and longitude GPS data and the specified extent value. The center of the bounding box is the geographical reference point specified by the values of the georeference property. The minimum and maximum latitude and longitude values in the structure represent a rectangular bounding box. This diagram displays the relationship between these coordinates.

Version History

Introduced in R2022b

R2024a_plus: georeference field now represents center of bounding box

The function now returns the georeference field values latitude and longitude as the center of the bounding box specified by the input lat, lon, and extent values. The value of altitude is 0.

Previously, when you specified the extent input argument as a nonzero value, the returned latitude and longitude values represented the bottom-left corner of the bounding box specified by the input lat, lon, and extent values, and if you did not specify the extent input argument, the function returned the latitude and longitude values as the first elements of the input lat and lon values, respectively.