exportToASAMOpenCRG

Export road surface object to ASAM OpenCRG format

Since R2025b

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Syntax

exportToASAMOpenCRG(rsObj,filename)
exportToASAMOpenCRG(rsObj,filename,Filetype=filetype)
crgStruct = exportToASAMOpenCRG(___)

Description

exportToASAMOpenCRG(rsObj,filename) exports the road surface object rsObj to an ASAM OpenCRG® file, filename.

example

exportToASAMOpenCRG(rsObj,filename,Filetype=filetype) specifies the ASAM OpenCRG file type filetype to which to export the data.

crgStruct = exportToASAMOpenCRG(___) additionally returns a structure crgStruct that contains the parameters required to represent a ASAM OpenCRG file.

Note

This feature requires the Scenario Builder for Automated Driving Toolbox™ support package. You can install the Scenario Builder for Automated Driving Toolbox support package from the Add-On Explorer. For more information about installing add-ons, see Get and Manage Add-Ons.

Examples

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This example uses:

Open Live Script

Load point cloud data and a road reference line into the workspace.

Note: The point cloud data must contain the road information for the specified road reference line.

data = load("roadSurfaceData.mat","ptCld","roadRefLine");
ptCld = data.ptCld;
roadRefLine = data.roadRefLine;

Specify the width of the road from the reference line as 4 meters on the left and 3 meters on the right.

roadWidthFromRefLine = [4 3];

Specify the resolution of the road surface as 1 cm each in the longitudinal and lateral directions.

gridResolution = [0.01 0.01];

Create a road surface object.

rsObj = roadSurface(ptCld,roadRefLine,roadWidthFromRefLine,gridResolution)
rsObj = 
  roadSurface with properties:

         RoadReferenceLine: [6×2 double]
         LateralResolution: 0.0100
    LongitudinalResolution: 0.0100
      RoadWidthFromRefLine: [4 3]
       InterpolationMethod: "nearest"
       ExtrapolationMethod: "nearest"
               LocalOrigin: []
    HasNormalizedElevation: 1

Export the road surface object to an ASAM OpenCRG file.

exportToASAMOpenCRG(rsObj,"exportedRoadSurface.crg")

Input Arguments

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Road surface object, specified as a roadSurface object.

ASAM OpenCRG filename, specified as a string scalar or a character vector.

You can specify filename as the absolute or relative path on which to save a file with the .crg extension. For example, to save the file myFile.crg in your current folder, C:\myFolder, you can specify the ASAM OpenCRG file as "myFile.crg" or "C:\myFolder\myFile.crg".

Data Types: string | char

Type of ASAM OpenCRG file to export, specified as one of these types.

  • "KRBI" — Specifies a binary data format for the ASAM OpenCRG file. For more information on the KRBI data format, see the 4.4.4 section of the ASAM OpenCRG Version 1.2.0 document.

  • "LRFI" — Specifies a human-readable, plain-text data format for the ASAM OpenCRG file. For more information on the LRFI data format, see the 4.4.4 section of the ASAM OpenCRG Version 1.2.0 document.

Data Types: string | char

Output Arguments

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ASAM OpenCRG creation parameters, returned as a structure. You can use the structure to visualize CRG data using ASAM OpenCRG library. For more information on the ASAM OpenCRG library, see ASAM OpenCRG.

Version History

Introduced in R2025b

See Also

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