Mesh representation of bicycle in driving scenario
Generate Lidar Point Cloud by Using Bicycle Mesh
Add a prebuilt bicycle mesh to a driving scenario. Then, use a
lidarPointCloudGenerator System object™ to generate a point cloud of the bicycle mesh.
Create and show the prebuilt bicycle mesh.
mesh = driving.scenario.bicycleMesh; egoMesh = driving.scenario.carMesh; figure show(mesh)
ans = Axes with properties: XLim: [-0.5000 0.5000] YLim: [-0.2000 0.2000] XScale: 'linear' YScale: 'linear' GridLineStyle: '-' Position: [0.1300 0.1100 0.7750 0.8150] Units: 'normalized' Show all properties
Create a driving scenario.
s = drivingScenario;
Add a straight road to the driving scenario. The road has one lane traveling in each direction.
road(s,[0 0 0; 30 0 0],'Lanes',lanespec([1 1]));
Add a car as an ego vehicle and a bicycle as a non-ego actor.
egoVehicle = vehicle(s,'ClassID',1,'Mesh',egoMesh); bicycle = vehicle(s,'Position',[15 2 0],'Yaw',180,'ClassID',3,'Mesh',mesh); smoothTrajectory(egoVehicle,[1 -2 0; 21.3 -2 0],20);
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 bicycle
Mesh representation of bicycle, 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 bicycle mesh as a starting point. At the MATLAB® command line, enter: