Explore the 3D Large Parking Lot scene and inspect its dimensions by using a corresponding 2D top-view image of the scene.

You can use this image to inspect the scene before simulation and choose starting coordinates for vehicles. For details on using these images to select waypoints for path-following applications, see theSelect Waypoints for Unreal Engine Simulationexample.

Load the 2D spatial referencing object that corresponds to the scene. Thisimref2dobject describes the relationship between the pixels in the image and the world coordinates of the scene.

data = load('sim3d_SpatialReferences.mat'); spatialRef = data.spatialReference.LargeParkingLot

spatialRef = imref2d with properties: XWorldLimits: [-78.6000 72.6000] YWorldLimits: [-77.7000 73.5000] ImageSize: [5928 5928] PixelExtentInWorldX: 0.0255 PixelExtentInWorldY: 0.0255 ImageExtentInWorldX: 151.2000 ImageExtentInWorldY: 151.2000 XIntrinsicLimits: [0.5000 5.9285e+03] YIntrinsicLimits: [0.5000 5.9285e+03]

Display the image corresponding to the scene. Use the spatial referencing object to display the axes in the world coordinates of the scene. Units are in meters.

By default, theimshowfunction displaysY-axis values that increase from top to bottom. To align with the Automated Driving Toolbox™ world coordinate system, set theY-direction to“正常”so thatY-axis values increase from bottom to top.

Place a marker at the origin of the scene.

figure fileName ='sim3d_LargeParkingLot.jpg'; I = imshow(fileName,spatialRef); set(gca,'YDir',“正常”) xlabel('X (m)') ylabel('Y (m)') holdonplot(0,0,'o','MarkerFaceColor','r','MarkerEdgeColor','k','MarkerSize',8) offset = 3;% pxtext(offset,offset,'(0,0)','Color','w','FontWeight','bold','FontSize',12) holdoff