plotParkingLaneMarking
Description
plotParkingLaneMarking(
displays parking lane marking vertices lmPlotter
,plmv
,plmf
)plmv
and parking lane marking
faces plmf
on a bird's-eye plot. The lane marking plotter
lmPlotter
is associated with a birdsEyePlot
object and configures the display of the specified lane
markings.
To remove all lane markings associated with the lane marking plotter
lmPlotter
, use the clearData
function and specify lmPlotter
as the input argument.
Examples
Generate Detections of Cars in Parking Lot
Generate detections of cars parked in a parking lot, and plot the detections on a bird's-eye plot.
Create a driving scenario containing a road and parking lot.
scenario = drivingScenario; roadcenters = [10 40; 10 -40]; road(scenario,roadcenters); vertices = [0 20; 20 20; 20 -20; 0 -20]; parkingLot(scenario,vertices,ParkingSpace=parkingSpace);
Add an ego vehicle and specify a trajectory in which the vehicle drives through the parking lot.
ego = vehicle(scenario);
waypoints = [10 35 0; 10 10 0];
speed = 5; % m/s
smoothTrajectory(ego,waypoints,speed)
Create parked cars in several parking spaces. Plot the scenario.
parkedCar1 = vehicle(scenario,Position=[15.8 12.4 0]); parkedCar2 = vehicle(scenario,Position=[15.8 -12.4 0]); parkedCar3 = vehicle(scenario,Position=[2 -9.7 0]); parkedCar4 = vehicle(scenario,Position=[2 9.7 0]); plot(scenario)
Create a vision sensor for generating the detections. By default, the sensor is mounted to the front bumper of the ego vehicle.
sensor = visionDetectionGenerator;
Create a bird's-eye plot and plotters for visualizing the target outlines, road boundaries, parking lane markings, sensor coverage area, and detections. Then, simulate the scenario and generate the detections.
bep = birdsEyePlot(XLim=[-40 40],YLim=[-30 30]); olPlotter = outlinePlotter(bep); lbPlotter = laneBoundaryPlotter(bep); lmPlotter = laneMarkingPlotter(bep,DisplayName="Parking lanes"); caPlotter = coverageAreaPlotter(bep,DisplayName="Coverage area"); detPlotter = detectionPlotter(bep,DisplayName="Detections"); while advance(scenario) % Plot target outlines. [position,yaw,length,width,originOffset,color] = targetOutlines(ego); plotOutline(olPlotter,position,yaw,length,width) % Plot lane boundaries of ego vehicle. rbEgo = roadBoundaries(ego); plotLaneBoundary(lbPlotter,rbEgo) % Plot parking lane markings. [plmv,plmf] = parkingLaneMarkingVertices(ego); plotParkingLaneMarking(lmPlotter,plmv,plmf) % Plot sensor coverage area. mountPosition = sensor.SensorLocation; range = sensor.MaxRange; orientation = sensor.Yaw; fieldOfView = sensor.FieldOfView(1); plotCoverageArea(caPlotter,mountPosition,range,orientation,fieldOfView) % Generate and plot detections. actors = targetPoses(ego); time = scenario.SimulationTime; [dets,isValidTime] = sensor(actors,time); if isValidTime positions = cell2mat(cellfun(@(x)([x.Measurement(1) x.Measurement(2)]), ... dets,UniformOutput=false)); plotDetection(detPlotter,positions) end end
Input Arguments
lmPlotter
— Lane marking plotter
LaneMarkingPlotter
object
Lane marking plotter, specified as a LaneMarkingPlotter
object.
This object is stored in the Plotters
property of a birdsEyePlot
object and configures the display of the specified parking lane
markings in the bird's-eye plot. To create this object, use the laneMarkingPlotter
function.
plmv
— Parking lane marking vertices
V-by-3 real-valued matrix
Parking lane marking vertices, specified as a V-by-3 real-valued
matrix. Each row of plmv
represents the x,
y, and z coordinates of one vertex in the lane
marking. The plotter uses only the x and y
coordinates. V is the number of vertices in the marking.
To obtain vertices and faces from parking lane markings in a driving scenario, use
the parkingLaneMarkingVertices
function.
plmf
— Parking lane marking faces
matrix of integers
Parking lane marking faces, specified as a matrix of integers. Each row of
plmf
is a face that defines the connection between vertices for
one parking lane marking. For more details, see Faces.
To obtain vertices and faces from parking lane markings in a driving scenario, use
the parkingLaneMarkingVertices
function.
Version History
Introduced in R2021b
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