roadMesh

Mesh representation of roads near actor

Since R2020a

Syntax

rdMesh = roadMesh(ac)

mesh = roadMesh(ac,maxRadius)

Description

rdMesh = roadMesh(ac) creates a mesh representation of roads nearest to the specified actor ac. The function returns the mesh as an extendedObjectMesh object. By default, the function searches for roads within a 120 m radius of the input actor.

mesh = roadMesh(ac,maxRadius)specifies the maximum search radius.

Examples

Generate Lidar Point Cloud Data of Multiple Actors

Generate lidar point cloud data for a driving scenario with multiple actors by using the lidarPointCloudGenerator System object. Create the driving scenario by using drivingScenario object. It contains an ego-vehicle, pedestrian and two other vehicles.

Create and plot a driving scenario with multiple vehicles

Create a driving scenario.

scenario = drivingScenario;

Add a straight road to the driving scenario. The road has one lane in each direction.

roadCenters = [0 0 0; 70 0 0];
laneSpecification = lanespec([1 1]);
road(scenario,roadCenters,'Lanes',laneSpecification);

Add an ego vehicle to the driving scenario.

egoVehicle = vehicle(scenario,'ClassID',1,'Mesh',driving.scenario.carMesh);
waypoints = [1 -2 0; 35 -2 0];
smoothTrajectory(egoVehicle,waypoints,10);

Add a truck, pedestrian, and bicycle to the driving scenario and plot the scenario.

truck = vehicle(scenario,'ClassID',2,'Length', 8.2,'Width',2.5,'Height',3.5, ...
    'Mesh',driving.scenario.truckMesh);
waypoints = [70 1.7 0; 20 1.9 0];
smoothTrajectory(truck,waypoints,15);

pedestrian = actor(scenario,'ClassID',4,'Length',0.24,'Width',0.45,'Height',1.7, ...
    'Mesh',driving.scenario.pedestrianMesh);
waypoints = [23 -4 0; 10.4 -4 0];
smoothTrajectory(pedestrian,waypoints,1.5);

bicycle = actor(scenario,'ClassID',3,'Length',1.7,'Width',0.45,'Height',1.7, ...
    'Mesh',driving.scenario.bicycleMesh);
waypoints = [12.7 -3.3 0; 49.3 -3.3 0];
smoothTrajectory(bicycle,waypoints,5);

plot(scenario,'Meshes','on')

Generate and plot lidar point cloud data

Create a lidarPointCloudGenerator System object.

lidar = lidarPointCloudGenerator;

Add actor profiles and the ego vehicle actor ID from the driving scenario to the System object.

lidar.ActorProfiles = actorProfiles(scenario);
lidar.EgoVehicleActorID = egoVehicle.ActorID;

Plot the point cloud data.

bep = birdsEyePlot('Xlimits',[0 70],'YLimits',[-30 30]);
plotter = pointCloudPlotter(bep);
legend('off');
while advance(scenario)
    tgts = targetPoses(egoVehicle);
    rdmesh = roadMesh(egoVehicle);
    [ptCloud,isValidTime] = lidar(tgts,rdmesh,scenario.SimulationTime);
    if isValidTime
        plotPointCloud(plotter,ptCloud);
    end
end

Input Arguments

ac — Actor

Actor object | Vehicle object

Actor belonging to a drivingScenario object, specified as an Actor or Vehicle object. To create these objects, use the actor and vehicle functions, respectively.

maxRadius — Maximum radius of search area

120 (default) | integer in the range [1, 500]

Maximum radius of search area, specified as an integer in the range [1, 500].

Data Types: single | double | int16 | int32 | int64 | uint16 | uint32 | uint64

Output Arguments

rdMesh — Mesh representation of roads near to actor

extendedObjectMesh object

Mesh representation of roads near to the actor, returned as an extendedObjectMesh object.

Version History

Introduced in R2020a