driving.scenario.carMesh

Mesh representation of car in driving scenario

Syntax

mesh = driving.scenario.carMesh

Description

mesh = driving.scenario.carMesh creates a mesh representation of a car as an extendedObjectMesh object, mesh.

Examples

Generate Lidar Point Cloud by Using Car Mesh

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

Create and show the prebuilt car mesh.

mesh = driving.scenario.carMesh;
show(mesh);

Create a driving scenario.

s = drivingScenario;

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

road(s,[0 0 0; 25 0 0],'Lanes',lanespec([1 1]));

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

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

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

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

Output Arguments

mesh — Mesh representation of car

extendedObjectMesh object

Mesh representation of car, 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 car mesh as a starting point. At the MATLAB^® command line, enter:

edit driving.scenario.carMesh