Mesh representation of truck in driving scenario
Generate Lidar Point Cloud by Using Truck Mesh
Add the prebuilt truck mesh to a driving scenario to generate a point cloud. Then, use
lidarPointCloudGenerator System object™ to generate a point cloud of the truck mesh.
Create and show the prebuilt truck mesh.
mesh = driving.scenario.truckMesh; 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 the ego vehicle and a truck as a non-ego actor.
egoVehicle = vehicle(s,'ClassID',1,'Mesh',egoMesh); smoothTrajectory(egoVehicle,[1 -2 0; 21.3 -2 0],20); truck = vehicle(s,'Position',[15 2 0],'Yaw',180,'ClassID',2,'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 truck
Mesh representation of truck, 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 truck mesh as a starting point. At the MATLAB® command line, enter: