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pointCloudPlotter

Point cloud plotter for bird's-eye plot

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Syntax

pcPlotter = pointCloudPlotter(bep)
pcPlotter = pointCloudPlotter(bep,Name,Value)

Description

example

pcPlotter= pointCloudPlotter(bep)creates a point cloud plotter object that configures the display of lidar point cloud data on a bird's-eye plot. The point cloud plotter object is stored in thePlottersproperty of the input bird's-eye plot object,bep. To plot the lidar point cloud data, use theplotPointCloudfunction.

pcPlotter= pointCloudPlotter(bep,Name,Value)specifies options using one or more name-value pair arguments. For example,'DisplayName','Point Cloud'sets the display name that appears in the bird's-eye-plot legend to "Point Cloud".

Examples

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Open Live Script

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

创建一个nd plot a driving scenario with multiple vehicles

创建一个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);路点= [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')

Figure contains an axes object. The axes object contains 7 objects of type patch, line.

Generate and plot lidar point cloud data

创建一个lidarPointCloudGeneratorSystem 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');whileadvance(scenario) tgts = targetPoses(egoVehicle); rdmesh = roadMesh(egoVehicle); [ptCloud,isValidTime] = lidar(tgts,rdmesh,scenario.SimulationTime);ifisValidTime plotPointCloud(plotter,ptCloud);endend

Figure contains an axes object. The axes object contains 7 objects of type patch, line.

Figure contains an axes object. The axes object is empty.

Input Arguments

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Bird’s-eye plot, specified as abirdsEyePlotobject.

Name-Value Arguments

Specify optional pairs of arguments asName1=Value1,...,NameN=ValueN, whereNameis the argument name andValueis the corresponding value. Name-value arguments must appear after other arguments, but the order of the pairs does not matter.

Before R2021a, use commas to separate each name and value, and encloseNamein quotes.

Example:'DisplayName','Point Cloud'sets the display name that appears in the bird's-eye-plot legend to "Point Cloud".

Plotter name to display in legend, specified as the comma-separated pair consisting of'DisplayName'and character vector or string scalar. If you do not specify a name, the bird's-eye plot does not display a legend entry for the plotter.

Data Types:char|string

Size of marker for points in a point cloud, specified as the comma-separated pair consisting of'PointSize'and a positive integer in points.

Point fill color, specified as the comma-separated pair consisting of'Color'and an RGB triplet, a hexadecimal color code, a color name, or a short color name.

For a custom color, specify an RGB triplet or a hexadecimal color code.

  • An RGB triplet is a three-element row vector whose elements specify the intensities of the red, green, and blue components of the color. The intensities must be in the range[0,1]; for example,[0.4 0.6 0.7].

  • A hexadecimal color code is a character vector or a string scalar that starts with a hash symbol (#) followed by three or six hexadecimal digits, which can range from0toF. The values are not case sensitive. Thus, the color codes'#FF8800','#ff8800','#F80', and'#f80'are equivalent.

Alternatively, you can specify some common colors by name. This table lists the named color options, the equivalent RGB triplets, and hexadecimal color codes.

Color Name Short Name RGB Triplet Hexadecimal Color Code Appearance
“红色” 'r' [1 0 0] '#FF0000'

样品的color red
'green' 'g' [0 1 0] '#00FF00'

样品的color green
'blue' 'b' [0 0 1] '#0000FF'

样品的color blue
'cyan' 'c' [0 1 1] '#00FFFF'

样品的color cyan
'magenta' 'm' [1 0 1] '#FF00FF'

样品的color magenta
'yellow' 'y' [1 1 0] '#FFFF00'

样品的color yellow
'black' 'k' [0 0 0] '#000000'

样品的color black
'white' 'w' [1 1 1] '#FFFFFF'

样品的color white
'none' Not applicable Not applicable Not applicable No color

Here are the RGB triplets and hexadecimal color codes for the default colors MATLAB®uses in many types of plots.

RGB Triplet Hexadecimal Color Code Appearance
[0 0.4470 0.7410] '#0072BD'

Sample of RGB triplet [0 0.4470 0.7410], which appears as dark blue
[0.8500 0.3250 0.0980] '#D95319'

Sample of RGB triplet [0.8500 0.3250 0.0980], which appears as dark orange
[0.9290 0.6940 0.1250] '#EDB120'

Sample of RGB triplet [0.9290 0.6940 0.1250], which appears as dark yellow
[0.4940 0.1840 0.5560] '#7E2F8E'

Sample of RGB triplet [0.4940 0.1840 0.5560], which appears as dark purple
[0.4660 0.6740 0.1880] '#77AC30'

Sample of RGB triplet [0.4660 0.6740 0.1880], which appears as medium green
[0.3010 0.7450 0.9330] '#4DBEEE'

Sample of RGB triplet [0.3010 0.7450 0.9330], which appears as light blue
[0.6350 0.0780 0.1840] '#A2142F'

Sample of RGB triplet [0.6350 0.0780 0.1840], which appears as dark red

Tag associated with the plotter object, specified as the comma-separated pair consisting of'Tag'and a character vector or string scalar. The default value is'PlotterN', whereNis an integer that corresponds to theNth plotter associated with the inputbirdsEyePlotobject.

Output Arguments

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Point cloud plotter, returned as apointCloudPlotterobject. You can modify this object by changing its property values.

pcPlotteris stored in thePlottersproperty of the input,bep. To plot the point cloud data, use theplotPointCloudfunction.

Version History

Introduced in R2020a

See Also

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