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Mesh representation of bicycle in driving scenario



mesh = driving.scenario.bicycleMesh creates a mesh representation of a bicycle as an extendedObjectMesh object, mesh.


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Add a prebuilt bicycle mesh to a driving scenario. Then, use a lidarPointCloudGenerator System object to generate a point cloud of the bicycle mesh.

Create and show the prebuilt bicycle mesh.

mesh = driving.scenario.bicycleMesh;
egoMesh = driving.scenario.carMesh;

ans = 
  Axes with properties:

             XLim: [-0.5000 0.5000]
             YLim: [-0.2000 0.2000]
           XScale: 'linear'
           YScale: 'linear'
    GridLineStyle: '-'
         Position: [0.1300 0.1100 0.7750 0.8150]
            Units: 'normalized'

  Show all properties

Create a driving scenario.

s = drivingScenario;

Add a straight road to the driving scenario. The road has one lane traveling in each direction.

road(s,[0 0 0; 30 0 0],'Lanes',lanespec([1 1]));

Add a car as an ego vehicle and a bicycle as a non-ego actor.

egoVehicle = vehicle(s,'ClassID',1,'Mesh',egoMesh);
bicycle = vehicle(s,'Position',[15 2 0],'Yaw',180,'ClassID',3,'Mesh',mesh);
trajectory(egoVehicle,[1 -2 0; 21.3 -2 0],20);

Plot the driving scenario. Set name-value pair 'Meshes','on' to show the meshes of the actors in the plot.


Create a lidarPointCloudGenerator System object. Set the actor profiles of the System object to those in the driving scenario.

lidar = lidarPointCloudGenerator;
lidar.ActorProfiles = actorProfiles(s);

Generate a lidar point cloud of the driving scenario.

player = pcplayer([-20 20],[-10 10],[0 4]);
while advance(s)
 tgts = targetPoses(egoVehicle);
 rdmesh = roadMesh(egoVehicle);
 [ptCloud,isValidTime] = lidar(tgts,rdmesh,s.SimulationTime);
    if isValidTime

Output Arguments

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Mesh representation of bicycle, returned as an extendedObjectMesh object. The origin of the mesh is located at its geometric center.

You can develop your own meshes by using this prebuilt bicycle mesh as a starting point. At the MATLAB® command line, enter:

edit driving.scenario.bicycleMesh
Introduced in R2020a