Mesh representation of pedestrian in driving scenario
Generate Lidar Point Cloud by Using Pedestrian Mesh
Add the prebuilt pedestrian mesh to a driving scenario. Then, use
lidarPointCloudGenerator System object™ to generate a point cloud of the pedestrian mesh.
Create and show the prebuilt pedestrian mesh.
mesh = driving.scenario.pedestrianMesh; egoMesh = 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; 30 0 0],'Lanes',lanespec([1 1]));
Add a car as an ego vehicle and a pedestrian as a non-ego actor.
egoVehicle = vehicle(s,'ClassID',1,'Mesh',egoMesh); smoothTrajectory(egoVehicle,[1 -2 0; 21.3 -2 0],20); pedestrian = actor(s,'Length',0.24,'Width',0.45,'Height',1.7,'Position',[15 2 0],'ClassID',4,'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 pedestrian
Mesh representation of pedestrian, 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 pedestrian mesh as a starting point. At the MATLAB® command line, enter: