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driving.scenario.pedestrianMesh

Mesh representation of pedestrian in driving scenario

Description

example

mesh = driving.scenario.pedestrianMesh creates a mesh representation of a pedestrian as an extendedObjectMesh object, mesh.

Examples

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Add the prebuilt pedestrian mesh to a driving scenario. Then, use lidarPointCloudGenerator System object™ to generate a point cloud of the pedestrian mesh.

Create and show the prebuilt pedestrian mesh.

mesh = driving.scenario.pedestrianMesh;
egoMesh = driving.scenario.carMesh;
show(mesh);

Figure contains an axes object. The axes object contains an object of type patch.

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; 30 0 0],'Lanes',lanespec([1 1]));

Add a car as an ego vehicle and a pedestrian as a non-ego actor.

egoVehicle = vehicle(s,'ClassID',1,'Mesh',egoMesh);
smoothTrajectory(egoVehicle,[1 -2 0; 21.3 -2 0],20);
pedestrian = actor(s,'Length',0.24,'Width',0.45,'Height',1.7,'Position',[15 2 0],'ClassID',4,'Mesh',mesh);

Plot the driving scenario. Set name-value pair 'Meshes','on' to show the meshes of the actors in the plot.

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

Figure contains an axes object. The axes object contains 5 objects of type patch, line.

Figure Point Cloud Player contains an axes object. The axes object contains an object of type scatter.

Output Arguments

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Mesh representation of pedestrian, 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 pedestrian mesh as a starting point. At the MATLAB® command line, enter:

edit driving.scenario.pedestrianMesh
Introduced in R2020a