Changing the ego view axes

Hello ,

I am trying to use the Collsion warning using 2-D lidar example but the Ego view axes are rotated.

How can I change it so that the lidar view matches obstcales i n the map.

Thanks

Answer 1

[Pratheek Punchathody]

As per my understanding you want to rotate the axes to match obstacles in the map.

Rotating the axes can be performed by using the function “camroll()”. Refer to the documentation on camroll for further information.

%This code is the part of the CollisionWarningUsing2DLidarExample>Simulate 2-D Lidar Sensor section
scan = lidarScan(ranges, angles); 
plot(scan) 
title('Ego View') 
helperPlotRobot(gca, [0 0 Vehiclepose(3)]); 

camroll(-90); %Rotates the camera around the camera viewing axis by the amounts specified

For the above code from the example below is the output which is mentioned.

Alternatively, you can use the following command with the example code as shown below

%This code is the part of the CollisionWarningUsing2DLidarExample>Simulate 2-D Lidar Sensor section
scan = lidarScan(ranges, angles); 
plot(scan) 
title('Ego View') 
helperPlotRobot(gca, [0 0 Vehiclepose(3)]); 

set(gca,'XDir','reverse'); 

Output of the ego view for the above code is shown below

Making a combination of both “camroll()” and “set()” function will help in matching the ego view with the obstacles in the map.