Outline plotter for bird's-eye plot
olPlotter = outlinePlotter(
OutlinePlotter object that configures the display of object
outlines on a bird's-eye plot. The
OutlinePlotter object is stored in the
Plotters property of the
bep. To display the outlines of
actors that are in a driving scenario, first use
targetOutlines to get the dimensions of the actors and barriers. Then, after
creating an outline plotter object, use the
plotBarrierOutline functions to display the outlines of all the actors and
barriers in the bird's-eye plot, respectively.
Plot Outlines of Targets on Bird's-Eye Plot
Create a driving scenario. Create a 25 m road segment with a barrier on its left edge. Add a pedestrian that crosses the road at 1 m/s, and a vehicle that drives along the road at 10 m/s.
scenario = drivingScenario; r = road(scenario,[0 0 0; 25 0 0]); barrier(scenario,r,'RoadEdge','left') p = actor(scenario,'ClassID',4,'Length',0.2,'Width',0.4,'Height',1.7); v = vehicle(scenario,'ClassID',1); smoothTrajectory(p,[15 -3 0; 15 3 0],1) smoothTrajectory(v,[v.RearOverhang 0 0; 25-v.Length+v.RearOverhang 0 0],10)
Use a chase plot to display the scenario from the perspective of the vehicle.
Create a bird's-eye plot, outline plotter, and lane boundary plotter.
bep = birdsEyePlot('XLim',[-25 25],'YLim',[-10 10]); olPlotter = outlinePlotter(bep); lbPlotter = laneBoundaryPlotter(bep); legend('off')
Run the simulation loop. Update the plotter with outlines for the targets.
while advance(scenario) % Obtain the road boundaries and rectangular outlines. rb = roadBoundaries(v); [position,yaw,length,width,originOffset,color] = targetOutlines(v); [bposition,byaw,blength,bwidth,boriginOffset,bcolor,numBarrierSegments] = targetOutlines(v,'Barriers'); % Update the bird's-eye plotters with the road, actors and barriers. plotLaneBoundary(lbPlotter,rb); plotOutline(olPlotter,position,yaw,length,width, ... 'OriginOffset',originOffset,'Color',color); plotBarrierOutline(olPlotter,numBarrierSegments,bposition,byaw,blength,bwidth, ... 'OriginOffset',boriginOffset,'Color',bcolor); % Allow time for plot to update. pause(0.01) end
Specify optional pairs of arguments as
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.
outlinePlotter('FaceAlpha',1) sets the areas within each
outline to be fully opaque.
FaceAlpha — Transparency of area within each outline
0.75 (default) | real scalar
Transparency of the area within each outline, specified as the comma-separated
pair consisting of
'FaceAlpha' and a real scalar in the range [0,
1]. A value of
0 makes the areas fully transparent. A value of
1 makes the areas fully opaque.
Tag — Tag associated with plotter object
'Plotter (default) | character vector | string scalar
Tag associated with the plotter object, specified as the comma-separated pair
'Tag' and a character vector or string scalar. The
default value is
N is an integer that corresponds to the
Nth plotter associated with the input
olPlotter — Outline plotter
Outline plotter, returned as an
OutlinePlotter object. You can
modify this object by changing its property values. The property names correspond to the
name-value pair arguments of the
olPlotter is stored in the
property of a
birdsEyePlot object. To plot the outlines
of actors that are in a driving scenario, first use
targetOutlines to get the dimensions of the actors and barriers. Then,
outlinePlotter to create a plotter object, use
plotBarrierOutline to plot the outlines of all the actors and barriers in a
bird's-eye plot, respectively.