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Mesh representation of car in driving scenario
mesh = driving.scenario.carMesh
example
mesh = driving.scenario.carMesh creates a mesh representation of a car as an extendedObjectMesh object, mesh.
mesh
extendedObjectMesh
collapse all
Add the prebuilt car mesh to a driving scenario. Then, use lidarPointCloudGenerator System object™ to generate a point cloud of the car mesh.
lidarPointCloudGenerator
Create and show the prebuilt car mesh.
mesh = 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; 25 0 0],'Lanes',lanespec([1 1]));
Add a car as an ego vehicle and as a non-ego actor.
egoVehicle = vehicle(s,'ClassID',1,'Mesh',mesh); smoothTrajectory(egoVehicle,[1 -2 0; 21.3 -2 0],20); car = vehicle(s,'Position',[15 2 0],'Yaw',180,'ClassID',1,'Mesh',mesh);
Plot the driving scenario. Set name-value pair 'Meshes','on' to show the meshes of the actors in the plot.
'Meshes','on'
plot(s,'Meshes','on');
Create a 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 representation of car, returned as an extendedObjectMesh object. The origin of the mesh is located at its geometric center.
You can develop your own meshes by using this prebuilt car mesh as a starting point. At the MATLAB® command line, enter:
edit driving.scenario.carMesh
Introduced in R2020a
driving.scenario.bicycleMesh
driving.scenario.pedestrianMesh
driving.scenario.truckMesh
translate
rotate
scale
applyTransform
join
scaleToFit
show
이 예제의 수정된 버전이 있습니다. 사용자가 편집한 내용을 반영하여 이 예제를 여시겠습니까?
다음 MATLAB 명령에 해당하는 링크를 클릭했습니다.
명령을 실행하려면 MATLAB 명령 창에 입력하십시오. 웹 브라우저는 MATLAB 명령을 지원하지 않습니다.
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