driving.scenario.bicycleMesh

Mesh representation of bicycle in driving scenario

Syntax

mesh = driving.scenario.bicycleMesh

Description

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

Examples

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Generate Lidar Point Cloud by Using Bicycle Mesh

Open Live Script

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;
figure
show(mesh)

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.

figure;
plot(s,'Meshes','on');

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
    view(player,ptCloud);
    end
end