Mesh representation of car in driving scenario
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); 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.
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 — Mesh representation of car
Mesh representation of car, returned as an
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: