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Automated Driving System Toolbox Functions - By Category

Alphabetical List By Category

Sensor Configuration and Coordinate System Transforms

monoCameraConfigure monocular camera sensor
imageToVehicleConvert image coordinates to vehicle coordinates
vehicleToImageConvert vehicle coordinates to image coordinates
undistortImageCorrect image for lens distortion
estimateCameraParametersCalibrate a single or stereo camera
estimateFisheyeParametersCalibrate fisheye camera
estimateMonoCameraParametersEstimate extrinsic monocular camera parameters using checkerboard
cameraIntrinsics Object for storing intrinsic camera parameters
cameraParametersObject for storing camera parameters
birdsEyeViewCreate bird's-eye view using inverse perspective mapping
transformImageTransform image to bird's-eye view
imageToVehicleConvert bird's-eye-view image coordinates to vehicle coordinates
vehicleToImageConvert vehicle coordinates to bird's-eye-view image coordinates
insertObjectAnnotationAnnotate truecolor or grayscale image or video stream
insertLaneBoundaryInsert lane boundary into image
insertMarkerInsert markers in image or video
insertShapeInsert shapes in image or video
insertTextInsert text in image or video

Ground Truth Labeling

groundTruthDataSourceObject for storing ground truth data sources
labelDefinitionCreatorObject for storing, modifying and creating label definitions table
labelTypeEnumeration of supported label types
attributeTypeEnumeration of supported attribute types
vision.labeler.AutomationAlgorithmInterface for algorithm automation in ground truth labeling
vision.labeler.mixin.TemporalMixin interface for adding temporal context to automation algorithms
driving.connector.ConnectorInterface to connect external tool to Ground Truth Labeler app
groundTruthObject for storing ground truth labels
selectLabelsSelect ground truth data for a set of labels
changeFilePathsChange file paths in data source and pixel label data of ground truth object
pixelLabelTrainingDataCreate training data for semantic segmentation from ground truth
pixelLabelDatastoreDatastore for pixel label data
objectDetectorTrainingDataCreate training data for an object detector

Perception with Computer Vision and Lidar

Visual Perception

peopleDetectorACFDetect people using aggregate channel features
vehicleDetectorACFLoad vehicle detector using aggregate channel features
acfObjectDetectorDetect objects using aggregate channel features
configureDetectorMonoCameraConfigure object detector for using calibrated monocular camera
acfObjectDetectorMonoCameraDetect objects in monocular camera using aggregate channel features
trainACFObjectDetectorTrain ACF object detector
objectDetectorTrainingDataCreate training data for an object detector
vision.PeopleDetectorDetect upright people using HOG features
vision.CascadeObjectDetectorDetect objects using the Viola-Jones algorithm
trainCascadeObjectDetectorTrain cascade object detector model
vehicleDetectorFasterRCNNDetect vehicles using Faster R-CNN
fastRCNNObjectDetectorDetect objects using Fast R-CNN deep learning detector
fasterRCNNObjectDetectorDetect objects using Faster R-CNN deep learning detector
configureDetectorMonoCameraConfigure object detector for using calibrated monocular camera
fastRCNNObjectDetectorMonoCamera Detect objects in monocular camera using Fast R-CNN deep learning detector
fasterRCNNObjectDetectorMonoCameraDetect objects in monocular camera using Faster R-CNN deep learning detector
trainFasterRCNNObjectDetectorTrain a Faster R-CNN deep learning object detector
trainFastRCNNObjectDetectorTrain a Fast R-CNN deep learning object detector
objectDetectorTrainingDataCreate training data for an object detector
segmentLaneMarkerRidgeDetect lanes in a grayscale intensity image
findParabolicLaneBoundariesFind boundaries using parabolic model
parabolicLaneBoundaryParabolic lane boundary model
findCubicLaneBoundariesFind boundaries using cubic model
cubicLaneBoundaryCubic lane boundary model
computeBoundaryModelObtain y-coordinates of lane boundaries given x-coordinates
insertLaneBoundaryInsert lane boundary into image
fitPolynomialRANSACFit polynomial to points using RANSAC
ransacFit model to noisy data
evaluateDetectionPrecisionEvaluate precision metric for object detection
evaluateDetectionMissRateEvaluate miss rate metric for object detection
evaluateLaneBoundariesEvaluate lane boundary models against ground truth
insertTextInsert text in image or video
insertShapeInsert shapes in image or video
insertMarkerInsert markers in image or video
insertLaneBoundaryInsert lane boundary into image
insertObjectAnnotationAnnotate truecolor or grayscale image or video stream
vision.DeployableVideoPlayerDisplay video
vision.VideoPlayerPlay video or display image

Lidar Processing

pointCloudObject for storing a 3-D point cloud
velodyneFileReaderRead point cloud data from Velodyne PCAP file
pcreadRead 3-D point cloud from PLY or PCD file
pcwriteWrite 3-D point cloud to PLY or PCD file
pcdenoiseRemove noise from 3-D point cloud
pcdownsampleDownsample a 3-D point cloud
pcmergeMerge two 3-D point clouds
pcnormalsEstimate normals for point cloud
pctransformTransform 3-D point cloud
pcplayerVisualize streaming 3-D point cloud data
pcshowPlot 3-D point cloud
pcshowpairVisualize difference between two point clouds
pcregistercpdRegister two point clouds using CPD algorithm
pcregistericpRegister two point clouds using ICP algorithm
pcregisterndtRegister two point clouds using NDT algorithm
pcsegdistSegment point cloud into clusters based on Euclidean distance
segmentLidarDataSegment organized 3-D range data into clusters
segmentGroundFromLidarDataSegment ground points from organized lidar data
pcfitplaneFit plane to 3-D point cloud
planeModelObject for storing a parametric plane model

Tracking and Sensor Fusion

multiObjectTrackerTrack objects using GNN assignment
objectDetectionCreate object detection report
getTrackPositionsReturns updated track positions and position covariance matrix
getTrackVelocitiesObtain updated track velocities and velocity covariance matrix
trackingKFLinear Kalman filter
trackingEKFExtended Kalman filter
trackingUKFUnscented Kalman filter
initcaekfCreate constant-acceleration extended Kalman filter from detection report
initcakfCreate constant-acceleration linear Kalman filter from detection report
initcaukfCreate constant-acceleration unscented Kalman filter from detection report
initctekfCreate constant turn-rate extended Kalman filter from detection report
initctukfCreate constant turn-rate unscented Kalman filter from detection report
initcvekfCreate constant-velocity extended Kalman filter from detection report
initcvkfCreate constant-velocity linear Kalman filter from detection report
initcvukfCreate constant-velocity unscented Kalman filter from detection report
constvelConstant velocity state update
constveljacJacobian for constant-velocity motion
cvmeasMeasurement function for constant velocity motion
cvmeasjacJacobian of measurement function for constant velocity motion
constaccConstant-acceleration motion model
constaccjacJacobian for constant-acceleration motion
cameasMeasurement function for constant-acceleration motion
cameasjacJacobian of measurement function for constant-acceleration motion
constturnConstant turn-rate motion model
constturnjacJacobian for constant turn-rate motion
ctmeasMeasurement function for constant turn-rate motion
ctmeasjacJacobian of measurement function for constant turn-rate motion
birdsEyePlotPlot detections and object tracking results around vehicle
coverageAreaPlotterCreate bird’s-eye-view coverage area plotter
detectionPlotterCreate bird’s-eye-view detection plotter
trackPlotterCreate bird’s-eye-view track plotter
laneBoundaryPlotterCreate bird’s-eye-view lane boundary plotter
laneMarkingPlotterBird’s-eye plot lane marking plotter
pathPlotterCreate bird’s-eye-view path plotter
outlinePlotterCreate bird's-eye-view outline plotter
findPlotterFind plotters associated with bird’s-eye plot
clearDataClear data from a specific plotter of bird’s-eye plot
clearPlotterDataClear data from bird’s-eye plot
plotCoverageAreaPlot bird’s-eye view coverage area
plotDetectionPlot a set of object detections
plotLaneBoundaryPlot lane boundary for bird’s-eye plot
plotLaneMarkingPlot lane markings on bird’s-eye plot
plotOutlinePlot object outlines
plotPathPlot lane boundary for bird’s-eye plot
plotTrackPlot a set of detection tracks
insertObjectAnnotationAnnotate truecolor or grayscale image or video stream
vision.VideoPlayerPlay video or display image
vision.DeployableVideoPlayerDisplay video

Driving Scenario Generation and Sensor Models

drivingScenarioCreate driving scenario
advanceAdvance driving scenario simulation by one time step
plotCreate driving scenario plot
recordRun driving scenario and record actor states
restartRestart driving scenario simulation from beginning
updatePlotsUpdate driving scenario plots
actorCreate an actor within driving scenario
actorPosesPositions, velocities, and orientations of actors in driving scenario
actorProfilesPhysical and radar properties of actors in driving scenario
vehicleCreate a vehicle within driving scenario
chasePlotEgocentric projective perspective plot
trajectoryCreate actor or vehicle trajectory in driving scenario
targetPosesTarget positions and orientations seen from an actor
targetOutlinesOutlines of targets viewed by actor
driving.scenario.TargetsToEgoConvert actor poses to ego coordinate system
roadAdd a road to driving scenario
roadNetworkAdd road network to driving scenario
roadBoundariesShow road boundaries
driving.scenario.roadBoundariesToEgoConvert road boundaries to ego coordinates
currentLaneCurrent lane of actor
lanespecCreate road lane specifications
laneMarkingCreate road lane marking object
laneMarkingVerticesLane marking vertices and faces
laneBoundariesLane boundaries
clothoidLaneBoundaryClothoid-shaped lane boundary model
radarDetectionGeneratorGenerate radar detections for driving scenario
visionDetectionGeneratorGenerate vision detections for driving scenario

Planning, Navigation, and Control

pathPlannerRRTConfigure RRT* path planner
planPlan vehicle path using RRT* path planner
checkPathValidityCheck validity of planned vehicle path
driving.PathPlanned vehicle path
interpolateInterpolate poses along planned vehicle path
vehicleCostmapCostmap representing planning space around vehicle
vehicleDimensionsStore vehicle dimensions
checkFreeCheck vehicle costmap for collision-free poses or points
checkOccupiedCheck vehicle costmap for occupied poses or points
getCostsGet cost value of cells in vehicle costmap
setCostsSet cost value of cells in vehicle costmap
inflationCollisionCheckerCollision-checking configuration for costmap based on inflation
geoplayer Visualize streaming geographic map data
plotPositionDisplay current position in geoplayer
plotRouteDisplay continuous route in geoplayer
lateralControllerStanleyCompute steering angle command for path following using Stanley method