Mesh representation of guardrail in driving scenario
Generate Lidar Point Cloud by Using Guardrail Mesh
Add the prebuilt guardrail mesh to a driving scenario. Then, use
lidarPointCloudGenerator System object™ to generate a point cloud of the guardrail mesh.
Create and show the prebuilt guardrail mesh.
mesh = driving.scenario.guardrailMesh; show(mesh);
Create a driving scenario.
s = drivingScenario;
Add a straight road to the driving scenario. The road has one lane in each direction.
road1 = road(s, [0 0 0; 25 0 0], 'Lanes', lanespec([1 1]));
Add a guardrail to the road along the right edge.
barrier(s, road1, 'Mesh', mesh);
Add a car as an ego vehicle and as a non-ego actor and apply the car mesh to both using
carMesh = driving.scenario.carMesh; egoVehicle = vehicle(s,'ClassID',1,'Mesh',carMesh); smoothTrajectory(egoVehicle,[1 -2 0; 21.3 -2 0], 20); car = vehicle(s,'Position',[15 2 0],'Yaw',180,'ClassID',1,'Mesh',carMesh);
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 guardrail
Mesh representation of guardrail, 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 guardrail mesh as a starting point. At the MATLAB® command line, enter: