meshPlotter
Description
creates a mPlotter
= meshPlotter(bep
)MeshPlotter
object that configures the display of meshes on a
bird's-eye plot. The MeshPlotter
object is stored in the
Plotters
property of the input birdsEyePlot
object, bep
. To display the mesh
representations of objects, use the plotMesh
function.
sets properties using one or more mPlotter
= meshPlotter(bep
,Name,Value
)Name,Value
pair arguments. For
example, meshPlotter(bep,'FaceAlpha',1)
sets the mesh faces to be fully
opaque.
Examples
Display Actor Meshes in Driving Scenario
Display actors in a driving scenario by using their mesh representations instead of their cuboid representations.
Create a driving scenario, and add a 25-meter straight road to the scenario.
scenario = drivingScenario; roadcenters = [0 0 0; 25 0 0]; road(scenario,roadcenters);
Add a pedestrian and a vehicle to the scenario. Specify the mesh dimensions of the actors using prebuilt meshes.
Specify the pedestrian mesh as a
driving.scenario.pedestrianMesh
object.Specify the vehicle mesh as a
driving.scenario.carMesh
object.
p = actor(scenario,'ClassID',4, ... 'Length',0.2,'Width',0.4, ... 'Height',1.7,'Mesh',driving.scenario.pedestrianMesh); v = vehicle(scenario,'ClassID',1, ... 'Mesh',driving.scenario.carMesh);
Add trajectories for the pedestrian and vehicle.
Specify for the pedestrian to cross the road at 1 meter per second.
Specify for the vehicle to follow the road at 10 meters per second.
waypointsP = [15 -3 0; 15 3 0]; speedP = 1; smoothTrajectory(p,waypointsP,speedP); wayPointsV = [v.RearOverhang 0 0; (25 - v.Length + v.RearOverhang) 0 0]; speedV = 10; smoothTrajectory(v,wayPointsV,speedV)
Add an egocentric plot for the vehicle. Turn the display of meshes on.
chasePlot(v,'Meshes','on')
Create a bird's-eye plot in which to display the meshes. Also create a mesh plotter and lane boundary plotter. Then run the simulation loop.
Obtain the road boundaries of the road the vehicle is on.
Obtain the mesh vertices, faces, and colors of the actor meshes, with positions relative to the vehicle.
Plot the road boundaries and actor meshes on the bird's-eye plot.
Pause the scenario to allow time for the plots to update. The chase plot updates every time you advance the scenario.
bep = birdsEyePlot('XLim',[-25 25],'YLim',[-10 10]); mPlotter = meshPlotter(bep); lbPlotter = laneBoundaryPlotter(bep); legend('off') while advance(scenario) rb = roadBoundaries(v); [vertices,faces,colors] = targetMeshes(v); plotLaneBoundary(lbPlotter,rb) plotMesh(mPlotter,vertices,faces,'Color',colors) pause(0.01) 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: meshPlotter('FaceAlpha',0.5)
sets the mesh faces to be 50%
transparent.
FaceAlpha
— Transparency of mesh faces
0.75
(default) | scalar in the range [0, 1]
Transparency of mesh faces, specified as the comma-separated pair consisting of
'FaceAlpha'
and a scalar in the range [0, 1]. A value of
0
makes the mesh faces fully transparent. A value of
1
makes the mesh faces fully opaque.
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
mPlotter
— Mesh plotter
MeshPlotter
object
Mesh plotter, returned as a MeshPlotter
object. You can modify this
object by changing its property values. The property names correspond to the name-value
pair arguments of the meshPlotter
function.
mPlotter
is stored in the Plotters
property of the input birdsEyePlot
object,
bep
. To plot the meshes, use the plotMesh
function.
More About
Meshes
In driving scenarios, a mesh is a triangle-based 3-D representation of an object. Mesh representations of objects are more detailed than the default cuboid (box-shaped) representations of objects. Meshes are useful for generating synthetic point cloud data from a driving scenario.
This table shows the difference between a cuboid representation and a mesh representation of a vehicle in a driving scenario.
Cuboid | Mesh |
---|---|
Version History
Introduced in R2020b
See Also
birdsEyePlot
| plotMesh
| clearData
| clearPlotterData
| targetMeshes
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