show3D

R2026b

Visualize UAV scenario in 3-D

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    Syntax

    [ax,plottedFrames] = show3D(scene)
    [ax,plottedFrames] = show3D(scene,time)
    [ax,plottedFrames] = show3D(___,Name=Value)

    Description

    [ax,plottedFrames] = show3D(scene) visualizes latest states of the platforms and sensors in the UAV scenario scene along with all static meshes. The function also returns the axes on which the scene is plotted and the frames on which each object is plotted.

    example

    [ax,plottedFrames] = show3D(scene,time) visualizes the UAV scenario at the specified time.

    [ax,plottedFrames] = show3D(___,Name=Value) specifies additional options using name-value arguments.

    Examples

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    Open Live Script

    Create a UAV scenario, and specify the update rate, stop time, and reference location. The reference location sets the geodetic origin of the scenario in latitude, longitude, and altitude.

    scene = uavScenario(UpdateRate=200,StopTime=2,ReferenceLocation=[46, 42, 0]);

    Add a custom inertial frame named MAP to the scenario. The MAP frame is offset 1 meter east from the default ENU (east-north-up) frame. Custom inertial frames enable you to define local coordinate systems for specific regions or tasks within the scenario.

    addInertialFrame(scene,"ENU","MAP",trvec2tform([1 0 0]));

    Add one ground mesh and two cylindrical obstacle meshes to the scenario. The polygon mesh represents the ground surface. The first cylinder is specified using Cartesian coordinates relative to the scenario origin. The second cylinder uses geographic coordinates (latitude, longitude, and radius) by setting UseLatLon to true, which is useful when you want to place obstacles at known geodetic positions.

    addMesh(scene,"Polygon",{[-100 0; 100 0; 100 100; -100 100],[-5 0]},[0.3 0.3 0.3]);
addMesh(scene,"Cylinder",{[20 10 10],[0 30]},[0 1 0]);
addMesh(scene,"Cylinder",{[46 42 5],[0 20]},[0 1 0],UseLatLon=true);

    Add a UAV platform with a specified waypoint trajectory to the scenario. The trajectory defines a flight path through three waypoints with arrival times at 0, 1, and 2 seconds.

    traj = waypointTrajectory(Waypoints=[0 -20 -5; 20 -20 -5; 20 0 -5],TimeOfArrival=[0 1 2]);
uavPlat = uavPlatform("UAV",scene,Trajectory=traj);

    Add meshes to the UAV platform for visualization. The first mesh is a quadrotor body with a wingspan of 4 meters displayed in red. Then, add a geofence boundary to constrain the UAV flight region.

    updateMesh(uavPlat,"quadrotor",{4},[1 0 0],eul2tform([0 0 pi]));
addGeoFence(uavPlat,"Polygon",{[-50 0;50 0;50 50;-50 50],[0 100]},true,ReferenceFrame="ENU");

    Attach an inertial navigation system (INS) sensor to the UAV platform. The INS sensor provides position, velocity, and orientation measurements during simulation.

    insModel = insSensor;
ins = uavSensor("INS",uavPlat,insModel,MountingLocation=[4 0 0]);

    Visualize the scenario in 3D. 

    ax = show3D(scene); 
axis(ax,"equal");

    Set up and start the scenario.

    % Set up scenario
setup(scene); 

% Start scenario
while advance(scene) 
    % Update sensor readings 
    updateSensors(scene); 
    
    % Visualize the scenario 
    show3D(scene,"Parent",ax,"FastUpdate",true); 
    drawnow limitrate 
end

    Figure contains an axes object. The axes object with xlabel East (m), ylabel North (m) contains 4 objects of type patch.

    Input Arguments

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    UAV scenario, specified as a uavScenario object.

    Time stamp at which to show the scenario, specified as a nonnegative scalar. The time stamp must already be saved in the scenario. To change the number of saved time stamps, use the HistoryBufferSize property of the uavScenario object, scene.

    Name-Value Arguments

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    Specify optional pairs of arguments as Name1=Value1,...,NameN=ValueN, where Name is the argument name and Value is the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

    Before R2021a, use commas to separate each name and value, and enclose Name in quotes.

    Example: ax = show3D(scene,"FastUpdate",true)

    Parent axes for plotting, specified as an axes object or a uiaxes object.

    Enable updating from previous map, specified as true or false. When specified as true, the function plots the map via a lightweight update to the previous map in the figure. When specified as false, the function plots the whole scene on the figure every time.

    Output Arguments

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    Axes on which the scenario is plotted, returned as an axes object or a uiaxes object.

    Plotted frame information, returned as a structure of hgtransform objects. The structure has two types of field names:

    • Inertial frame names — The corresponding field value is a hgtransform object which contains the transform information from the ego frame to the ENU frame.

    • UAV platform names — The corresponding field value is a structure which contains the hgtransform information for all frames defined on the platform.

    Version History

    Introduced in R2020b