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Mesh representation of car in driving scenario
mesh = driving.scenario.carMesh
example
mesh = driving.scenario.carMesh creates a mesh representation of a car as an extendedObjectMesh object, mesh.
mesh
extendedObjectMesh
collapse all
Add the prebuilt car mesh to a driving scenario. Then, use lidarPointCloudGenerator System object™ to generate a point cloud of the car mesh.
lidarPointCloudGenerator
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); smoothTrajectory(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.
'Meshes','on'
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
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
Introduced in R2020a
driving.scenario.bicycleMesh
driving.scenario.pedestrianMesh
driving.scenario.truckMesh
translate
rotate
scale
applyTransform
join
scaleToFit
show
Vous possédez une version modifiée de cet exemple. Souhaitez-vous ouvrir cet exemple avec vos modifications ?
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