pointCloudPlotter
Description
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 the
pcPlotter
= pointCloudPlotter(bep
)Plotters
property of the input bird's-eye plot object,
bep
. To plot the lidar point cloud data, use the plotPointCloud
function.
specifies options using one or more name-value pair arguments. For example,
pcPlotter
= pointCloudPlotter(bep
,Name,Value
)'DisplayName','Point Cloud'
sets the display name that appears in the
bird's-eye-plot legend to "Point Cloud".
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
bep
— Bird’s-eye plot
birdsEyePlot
object
Bird’s-eye plot, specified as a birdsEyePlot
object.
Name-Value Arguments
Specify optional pairs of arguments as
Name1=Value1,...,NameN=ValueN
, where Name
is
the argument name and Value
is 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 enclose
Name
in quotes.
Example: 'DisplayName','Point Cloud'
sets the display name that
appears in the bird's-eye-plot legend to "Point Cloud".
DisplayName
— Plotter name to display in legend
''
(default) | character vector | string scalar
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
PointSize
— Size of marker for points in point cloud
6
(default) | positive integer
Size of marker for points in a point cloud, specified as the comma-separated pair
consisting of 'PointSize'
and a positive integer in points.
Color
— Point fill color
'none'
(default) | RGB triplet | hexadecimal color code | color name | short color name
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 string scalar or character vector that starts with a hash symbol (
#
) followed by three or six hexadecimal digits, which can range from0
toF
. The values are not case sensitive. Therefore, 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 |
---|---|---|---|---|
"red" | "r" | [1 0 0] | "#FF0000" | |
"green" | "g" | [0 1 0] | "#00FF00" | |
"blue" | "b" | [0 0 1] | "#0000FF" | |
"cyan"
| "c" | [0 1 1] | "#00FFFF" | |
"magenta" | "m" | [1 0 1] | "#FF00FF" | |
"yellow" | "y" | [1 1 0] | "#FFFF00" | |
"black" | "k" | [0 0 0] | "#000000" | |
"white" | "w" | [1 1 1] | "#FFFFFF" | |
"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" | |
[0.8500 0.3250 0.0980] | "#D95319" | |
[0.9290 0.6940 0.1250] | "#EDB120" | |
[0.4940 0.1840 0.5560] | "#7E2F8E" | |
[0.4660 0.6740 0.1880] | "#77AC30" | |
[0.3010 0.7450 0.9330] | "#4DBEEE" | |
[0.6350 0.0780 0.1840] | "#A2142F" |
Tag
— Tag associated with plotter object
'PlotterN
'
(default) | character vector | string scalar
N
'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 'Plotter
, where
N
'N
is an integer that corresponds to the
N
th plotter associated with the input birdsEyePlot
object.
Output Arguments
pcPlotter
— Point cloud plotter
pointCloudPlotter
object
Point cloud plotter, returned as a pointCloudPlotter
object. You
can modify this object by changing its property values.
pcPlotter
is stored in the Plotters
property of the input, bep
. To plot the point cloud data, use the
plotPointCloud
function.
Version History
Introduced in R2020a
See Also
birdsEyePlot
| plotPointCloud
| findPlotter
| clearData
| clearPlotterData
Comando MATLAB
Hai fatto clic su un collegamento che corrisponde a questo comando MATLAB:
Esegui il comando inserendolo nella finestra di comando MATLAB. I browser web non supportano i comandi MATLAB.
Select a Web Site
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
You can also select a web site from the following list:
How to Get Best Site Performance
Select the China site (in Chinese or English) for best site performance. Other MathWorks country sites are not optimized for visits from your location.
Americas
- América Latina (Español)
- Canada (English)
- United States (English)
Europe
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)