plotOutline

Display object outlines on bird's-eye plot

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Syntax

plotOutline(olPlotter,positions,yaw,length,width)
plotOutline(___,Name,Value)

Description

plotOutline(olPlotter,positions,yaw,length,width) displays the rectangular outlines of cuboid objects on a bird's-eye plot. Specify the position, yaw angle of rotation, length, and width of each cuboid. The outline plotter, olPlotter, is associated with a birdsEyePlot object and configures the display of the specified outlines.

To remove all outlines associated with outline plotter olPlotter, call the clearData function and specify olPlotter as the input argument.

To display the outlines of actors that are in a driving scenario, first use targetOutlines to get the dimensions of the actors. Then, after calling outlinePlotter to create a plotter object, use the plotOutline function to display the outlines of all the actors in a bird's-eye plot, except barriers. Use plotBarrierOutline function to display barriers.

plotOutline(___,Name,Value) specifies options using one or more Name,Value pair arguments and the input arguments from the previous syntax.

example

Examples

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Open Live Script

Create a driving scenario. Create a 25 m road segment with a barrier on its left edge. Add a pedestrian that crosses the road at 1 m/s, and a vehicle that drives along the road at 10 m/s.

scenario = drivingScenario;

r = road(scenario,[0 0 0; 25 0 0]);
barrier(scenario,r,'RoadEdge','left')

p = actor(scenario,'ClassID',4,'Length',0.2,'Width',0.4,'Height',1.7);
v = vehicle(scenario,'ClassID',1);

smoothTrajectory(p,[15 -3 0; 15 3 0],1)
smoothTrajectory(v,[v.RearOverhang 0 0; 25-v.Length+v.RearOverhang 0 0],10)

Use a chase plot to display the scenario from the perspective of the vehicle.

chasePlot(v,'Centerline','on')

Figure contains an axes object. The hidden axes object with xlabel X (m), ylabel Y (m) contains 18 objects of type patch, line.

Create a bird's-eye plot, outline plotter, and lane boundary plotter.

bep = birdsEyePlot('XLim',[-25 25],'YLim',[-10 10]);
olPlotter = outlinePlotter(bep);
lbPlotter = laneBoundaryPlotter(bep);

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) is empty.

legend('off')

Run the simulation loop. Update the plotter with outlines for the targets.

while advance(scenario)
   % Obtain the road boundaries and rectangular outlines.
   rb = roadBoundaries(v);
   [position,yaw,length,width,originOffset,color] = targetOutlines(v);
   [bposition,byaw,blength,bwidth,boriginOffset,bcolor,numBarrierSegments] = targetOutlines(v,'Barriers');

   % Update the bird's-eye plotters with the road, actors and barriers.
   plotLaneBoundary(lbPlotter,rb);
   plotOutline(olPlotter,position,yaw,length,width, ...
               'OriginOffset',originOffset,'Color',color);
   plotBarrierOutline(olPlotter,numBarrierSegments,bposition,byaw,blength,bwidth, ...
               'OriginOffset',boriginOffset,'Color',bcolor); 
   % Allow time for plot to update.
   pause(0.01)
end

Figure contains an axes object. The hidden axes object with xlabel X (m), ylabel Y (m) contains 18 objects of type patch, line.

Figure contains an axes object. The axes object with xlabel X (m), ylabel Y (m) is empty.

Input Arguments

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Outline plotter, specified as an OutlinePlotter object. This object is stored in the Plotters property of a birdsEyePlot object and configures the display of the specified outlines in the bird's-eye plot. To create this object, use the outlinePlotter function.

Positions of detected objects in vehicle coordinates, specified as an M-by-2 real-valued matrix of (X, Y) positions. M is the number of detected objects. The positive X-direction points ahead of the center of the vehicle. The positive Y-direction points to the left of the origin of the vehicle, which is the center of the rear axle, as shown in this figure of the vehicle coordinate system.

Vehicle with X-axis, Y-axis, and origin labeled

Angles of rotation for object outlines, specified as an M-element real-valued vector, where M is the number of objects.

Lengths of object outlines, specified as an M-element real-valued vector, where M is the number of objects.

Widths of object outlines, specified as an M-element real-valued vector, where M is the number of objects.

Name-Value Arguments

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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: 'Marker','x'

Rotational centers of rectangles relative to origin, specified as the comma-separated pair consisting of 'OriginOffset' and an M-by-2 real-valued matrix. M is the number of objects. Each row corresponds to the rotational center about which to rotate the corresponding rectangle, specified as an (X,Y) displacement from the geometrical center of that rectangle.

Outline color, specified as the comma-separated pair consisting of 'Color' and an M-by-3 matrix of RGB triplets. M is the number of objects. If you do not specify this argument, the function uses the default colormap for each object.

Example: 'Color',[0 0.5 0.75; 0.8 0.3 0.1]

Version History

Introduced in R2017b

See Also

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