plot

R2026b

Plot RoadRunner HD Map

Since R2022b

Syntax

plot(rrMap)

plot(rrMap,Name=Value)

axesHandle = plot(___)

Description

plot(rrMap) plots the RoadRunner HD Map's lane centers, lane boundaries, lane group centers, and barriers.

plot(rrMap,Name=Value) specifies additional name-value pair arguments for the HD map.

axesHandle = plot(___) returns a figure handle as an axes (MATLAB) object.

Examples

Plot HD Map from Binary File

Create an empty RoadRunner HD Map by calling the roadrunnerHDMap object.

rrMap = roadrunnerHDMap;

Specify the name of the binary file you want to read. Use the read function to read the file specified by the argument filename.

filename = "C:\RR\MyProject\Scenes\MyMap.rrhd";
read(rrMap,filename)
rrMap

rrMap = 
  roadrunnerHDMap with properties:

                 Author: ""
           GeoReference: [0 0]
     GeographicBoundary: [2×3 double]
                  Lanes: [728×1 roadrunner.hdmap.Lane]
            SpeedLimits: [356×1 roadrunner.hdmap.SpeedLimit]
         LaneBoundaries: [908×1 roadrunner.hdmap.LaneBoundary]
             LaneGroups: [163×1 roadrunner.hdmap.LaneGroup]
           LaneMarkings: [4×1 roadrunner.hdmap.LaneMarking]
              Junctions: [11×1 roadrunner.hdmap.Junction]
           BarrierTypes: [0×1 roadrunner.hdmap.BarrierType]
               Barriers: [0×1 roadrunner.hdmap.Barrier]
              SignTypes: [2×1 roadrunner.hdmap.SignType]
                  Signs: [4×1 roadrunner.hdmap.Sign]
      StaticObjectTypes: [5×1 roadrunner.hdmap.StaticObjectType]
          StaticObjects: [443×1 roadrunner.hdmap.StaticObject]
    StencilMarkingTypes: [2×1 roadrunner.hdmap.StencilMarkingType]
        StencilMarkings: [10×1 roadrunner.hdmap.StencilMarking]
      CurveMarkingTypes: [1×1 roadrunner.hdmap.CurveMarkingType]
          CurveMarkings: [10×1 roadrunner.hdmap.CurveMarking]
            SignalTypes: [2×1 roadrunner.hdmap.SignalType]
                Signals: [10×1 roadrunner.hdmap.Signal]
           ParkingEdges: [0×1 roadrunner.hdmap.ParkingEdge]
          ParkingSpaces: [0×1 roadrunner.hdmap.ParkingSpace]

Plot the map.

plot(rrMap)

Input Arguments

rrMap — RoadRunner HD Map road data model

roadrunnerHDMap object

RoadRunner HD Map road data model, specified as a roadrunnerHDMap object. rrMap defines a simple data structure to represent road layouts using lanes, lane boundaries, lane markings, and junctions. This object provides functions that support reading, writing, and plotting HD map data.

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.

Example:

Parent — Handle to axes object

handle object

Handle to an axes object, specified as a handle object to contain the plot. If this property is not specified, the plot function generates a new figure.

ShowLaneGroups — Display lane group centers

false or 0 (default) | true or 1

Display lane group centers in the plot, specified as logical 0 (false) or logical 1 (true). If you set ShowLaneGroups to true, then the plot function displays the lane group centers in the plot.

ShowBarriers — Display barrier centers

false or 0 (default) | true or 1

Display barrier centers in the plot, specified as logical 0 (false) or logical 1 (true). If you set ShowBarriers to true, then the plot function displays the barrier centers in the plot.

ShowSigns — Display signs

false or 0 (default) | true or 1

Display signs in the plot, specified as logical 0 (false) or logical 1 (true). If you set ShowSigns to true, then the plot function displays the signs in the plot.

ShowStaticObjects — Display static objects

false or 0 (default) | true or 1

Display static objects in the plot, specified as logical 0 (false) or logical 1 (true). If you set ShowStaticObjects to true, then the plot function displays the static objects in the plot.

ShowLegend — Display legend

true or 1 (default) | false or 0

Display legend in the plot, specified as logical 1 (true) or logical 0 (false). If you set ShowLegend to false, then the plot function does not displays the legend for the plot. A legend is not shown when the Parent name-value argument is specified.

ShowLineMarkers — Display line markers

true or 1 (default) | false or 0

Display line markers in the plot, specified as logical 1 (true) or logical 0 (false). If you set ShowLineMarkers to true, then the plot function displays the line markers for the plot.

Output Arguments

axesHandle — Figure handle

Axes object

Figure handle, returned as an Axes (MATLAB) object.

Version History

Introduced in R2022b