actorprops
Syntax
Description
generates a table containing actor properties based on the input track list
actorInfo
= actorprops(tracklist
,egoTrajectory
)tracklist
and ego trajectory data
egoTrajectory
.
[
returns the location on disk actorInfo
,writeLoc
] = actorprops(tracklist
,egoTrajectory
)writeLoc
where the
actorprops
function stores the actor trajectory information.
[___] = actorprops(___,
specifies options using name-value arguments in addition to the arguments from the previous
syntaxes. For example, Name=Value
)AgeThreshold=2
excludes actors with age less than
the specified age threshold of 2.
Note
This function requires the Scenario Builder for Automated Driving Toolbox™ support package and Sensor Fusion and Tracking Toolbox™. 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
Generate Actor Properties from Non-Ego Actor Track List
Load a non-ego actor tracklist, waypoints, and time of arrival for the ego vehicle into the workspace.
data = load("recordedSensorData");
Create a waypointTrajectory
object for the ego vehicle.
egoTrajectory = waypointTrajectory(data.egoWaypoints, ... data.egoTimeOfArrival,ReferenceFrame="ENU");
Generate and display the actor properties table.
actorInfo = actorprops(data.actorTracklistData,egoTrajectory)
actorInfo=18×13 table
Age TrackID ClassID EntryTime ExitTime Mesh Time Waypoints Speed Roll Pitch Yaw IsStationary
___ _______ _______ _________ ________ ______________________ ______________ ______________ ______________ ______________ ______________ ______________ ____________
138 4 1 0.000383 6.8497 1x1 extendedObjectMesh {138x1 double} {138x3 double} {138x1 double} {138x1 double} {138x1 double} {138x1 double} false
261 13 1 0.000383 13.001 1x1 extendedObjectMesh {261x1 double} {261x3 double} {261x1 double} {261x1 double} {261x1 double} {261x1 double} false
51 22 1 0.000383 2.5007 1x1 extendedObjectMesh { 51x1 double} { 51x3 double} { 51x1 double} { 51x1 double} { 51x1 double} { 51x1 double} false
59 23 1 1.9999 4.8997 1x1 extendedObjectMesh { 59x1 double} { 59x3 double} { 59x1 double} { 59x1 double} { 59x1 double} { 59x1 double} false
6 24 1 3.0507 3.3003 1x1 extendedObjectMesh { 6x1 double} { 6x3 double} { 6x1 double} { 6x1 double} { 6x1 double} { 6x1 double} true
12 25 1 4.6997 5.2497 1x1 extendedObjectMesh { 12x1 double} { 12x3 double} { 12x1 double} { 12x1 double} { 12x1 double} { 12x1 double} false
167 26 1 5.1495 13.451 1x1 extendedObjectMesh {167x1 double} {167x3 double} {167x1 double} {167x1 double} {167x1 double} {167x1 double} false
65 28 1 6.5994 9.7999 1x1 extendedObjectMesh { 65x1 double} { 65x3 double} { 65x1 double} { 65x1 double} { 65x1 double} { 65x1 double} false
31 31 1 9.4507 10.951 1x1 extendedObjectMesh { 31x1 double} { 31x3 double} { 31x1 double} { 31x1 double} { 31x1 double} { 31x1 double} false
377 32 1 11.151 29.951 1x1 extendedObjectMesh {377x1 double} {377x3 double} {377x1 double} {377x1 double} {377x1 double} {377x1 double} false
5 33 1 12.002 12.2 1x1 extendedObjectMesh { 5x1 double} { 5x3 double} { 5x1 double} { 5x1 double} { 5x1 double} { 5x1 double} true
240 37 1 14.049 26 1x1 extendedObjectMesh {240x1 double} {240x3 double} {240x1 double} {240x1 double} {240x1 double} {240x1 double} false
5 38 1 14.3 14.5 1x1 extendedObjectMesh { 5x1 double} { 5x3 double} { 5x1 double} { 5x1 double} { 5x1 double} { 5x1 double} true
5 39 1 14.5 14.7 1x1 extendedObjectMesh { 5x1 double} { 5x3 double} { 5x1 double} { 5x1 double} { 5x1 double} { 5x1 double} true
8 40 1 26.2 26.55 1x1 extendedObjectMesh { 8x1 double} { 8x3 double} { 8x1 double} { 8x1 double} { 8x1 double} { 8x1 double} false
16 42 1 27.101 27.85 1x1 extendedObjectMesh { 16x1 double} { 16x3 double} { 16x1 double} { 16x1 double} { 16x1 double} { 16x1 double} false
⋮
Extract Actor Properties with Specified Actor Age Threshold
Load a non-ego actor tracklist, waypoints, and time of arrival for the ego vehicle into the workspace.
data = load("recordedSensorData");
Create a waypointTrajectory
object for the ego vehicle.
egoTrajectory = waypointTrajectory(data.egoWaypoints, ... data.egoTimeOfArrival,ReferenceFrame="ENU");
Generate the actor properties table without specifying an age threshold.
actorInfo1 = actorprops(data.actorTracklistData,egoTrajectory);
Generate an actor properties table with a specified age threshold.
actorInfo2 = actorprops(data.actorTracklistData,egoTrajectory, ...
AgeThreshold=20);
Display the number of actors in each property table. The number of actors in actorInfo2
is less as compared to the number of actors in actorInfo1
.
numActorsInActorInfo1 = numel(actorInfo1.TrackID)
numActorsInActorInfo1 = 18
numActorsInActorInfo2 = numel(actorInfo2.TrackID)
numActorsInActorInfo2 = 10
Generate Actor Properties with Smoothing Waypoints
Load a non-ego actor track list, waypoints, and time of arrival for the ego vehicle into the workspace.
data = load("recordedSensorData");
Create a waypointTrajectory
object for the ego vehicle.
egoTrajectory = waypointTrajectory(data.egoWaypoints, ... data.egoTimeOfArrival,ReferenceFrame="ENU");
Generate the actor properties table without smoothing waypoints.
actorInfo1 = actorprops(data.actorTracklistData,egoTrajectory);
Smooth actor waypoints by using the helperSmoothFcn
function and generate the actor properties table.
actorInfo2 = actorprops(data.actorTracklistData,egoTrajectory,SmoothWaypoints=@helperSmoothFcn);
Display some sample of actor waypoints without smoothing and with smoothing.
figure plot(actorInfo1.Waypoints{10,1}(1:50,1),actorInfo1.Waypoints{10,1}(1:50,2),LineWidth=2) hold on plot(actorInfo2.Waypoints{10,1}(1:50,1),actorInfo2.Waypoints{10,1}(1:50,2),LineWidth=2) hold off legend("Waypoints Without Smoothing","Waypoints With Smoothing") xlabel("X-axis") ylabel("Y-axis") title("Actor Waypoints Smoothing")
Input Arguments
tracklist
— Actor track list information
actorTracklist
object | K-by-2 table
Actor track list information, specified as an actorTracklist
object, or a K-by-2 table. Each row in the
table represents track information relative to its time.
The first column of the table must contain timestamps at which the track information was captured, specified as a positive scalar. Units are in seconds.
The second column of the table must contain track information of non-ego actors, specified as an M-by-1 structure. M is the number of actors. The structure must contain these fields:
Field | Description |
---|---|
TrackID | Track ID of the actor, specified as a numeric scalar, string scalar, or a character vector. |
ClassID | Classification identifier of the actor, specified as one of these nonnegative integers:
|
Position | Position of the actor with respect to the ego frame, specified as a 3-element numeric row vector of the form [x y z]. Units are in meters. |
The structure can also contain these optional fields:
Field | Description |
---|---|
Dimension | Dimensions of the actor, specified as a 3-element numeric row vector of the form [length width height]. Units are in meters. |
Yaw | Yaw angle of the actor with respect to the ego frame, specified as a scalar. Units are in degrees. |
Pitch | Pitch angle of the actor with respect to the ego frame, specified as a scalar. Units are in degrees. |
Roll | Roll angle of the actor with respect to the ego frame, specified as a scalar. Units are in degrees. |
Speed | Speed of the actor with respect to the ego frame, specified as a scalar. Units are in meters per second. |
Velocity | Velocity of the actor with respect to the ego frame, specified as a 3-element numeric row vector of the form [vx vy vz]. Units are in meters per second. |
The movements of the ego vehicle and non-ego actors must follow the vehicle coordinate system used by Automated Driving Toolbox. For more information on vehicle coordinate system, see Vehicle Coordinate System.
egoTrajectory
— Ego trajectory information
waypointTrajectory
object
Ego trajectory information, specified as a waypointTrajectory
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.
Example: actorprops(tracklist,egoTrajectory,AgeThreshold=2)
excludes
actors with age less than the specified age threshold of 2.
AgeThreshold
— Actor age threshold
2
(default) | positive integer
Actor age threshold, specified as a positive integer. This value is relative to
the Age
parameter of an actor in the output table
actorInfo
. The Age
parameter specifies the
number of times the actor has been tracked from entry time to exit time. The returned
actorInfo
table excludes actors with age less than the
specified ageThreshold
value.
SmoothWaypoints
— Smooth waypoints function
[]
(default) | function handle
Smooth waypoints function, specified as a function handle. The function smooths the waypoints of each actor.
The specified function must support this syntax:
waypointsOut = smoothFcn(waypointsIn)
waypointsIn
specifies the waypoints of the actors and
waypointsOut
is the smoothed waypoints.
SaveAs
— File format in which to save actor trajectory information
"csv"
(default) | "none"
File format in which to save the actor trajectory information, specified as
"csv"
or "none"
.
csv
— Save the actor trajectory information in a CSV file. You can import these CSV files into RoadRunner Scenario to create scenarios. The function stores ego trajectory information with the filenameego
and stores the non-ego information with filenames that correspond to the track IDs of the respective actors. The function stores the CSV files in anactorTrajectories
folder it creates on the path specified by theWriteLocation
argument.none
— The function does not save actor trajectory information.
WriteLocation
— Location to which to write actor trajectory information
current working directory (default) | string scalar | character vector
Location to which to write the actor trajectory information, specified as a string
scalar or character vector. The location you specify must have write permission. By
default, the actorprops
function stores the actor trajectory
information files in the current working directory.
The function stores the actor trajectory information files in an
actorTrajectories
folder it creates on the path specified by the
WriteLocation
argument. If the
actorTrajectories
folder already exists on the specified path,
the function creates a new folder with the suffix
"_<K>"
appended to the folder name, where
K is a positive integer. The value of K
increments based on the names of the folders already on the specified path. For
example, if the actorTrajectories
folder already exists, the
function creates an actorTrajectories_1
folder, and if the
actorTrajectories_1
folder already exists, it creates an
actorTrajectories_2
folder.
Output Arguments
actorInfo
— Actor trajectory information
table
Actor trajectory information, returned as a table. The trajectory parameters are in the world coordinate frame. Each row in the table represents the trajectory parameters of an actor.
The table contain these columns.
Column | Description |
---|---|
Age | Age of the actor, returned as a positive integer. This value specifies the number of times the actor has been tracked. |
TrackID | Track ID of the actor, returned as a numeric scalar, string scalar, or a character vector. |
ClassID | Actor classification identifier, returned as a nonnegative integer. Values are in the range 0 to 4. |
EntryTime | Entry time of the actor, returned as a positive scalar. This value specifies the time of first detection of an actor. Units are in seconds. |
ExitTime | Exit time of the actor, returned as a positive scalar. This value specifies the time of last detection of an actor. Units are in seconds. |
Mesh | Mesh assigned to the actor, returned as an
|
Time | Timestamps of actor detections, returned as an N-element column vector. N is the number of detections. |
Waypoints | Waypoints of the actor center in the world frame from entry time to exit time, returned as an N-by-3 matrix. N is the number of waypoints. Units are in meters. |
Speed | Speeds of the actor in the world frame from entry time to exit time,
returned as an N-element column vector.
Speed values are relative to the corresponding values
of Waypoints . Units are in meters per second. |
Roll | Roll angles of the actor in the world frame from entry time to exit time,
returned as an N-element column vector.
Roll values are relative to the corresponding values of
Waypoints . Units are in degrees. |
Pitch | Pitch angles of the actor in the world frame from entry time to exit
time, returned as an N-element column vector.
Pitch values are relative to the corresponding values
of Waypoints . Units are in degrees. |
Yaw | Yaw angles of the actor in the world frame from entry time to exit time,
returned as an N-element column vector.
Yaw values are relative to the corresponding values of
Waypoints . Units are in degrees. |
IsStationary | Actor is stationary, returned as a logical 1
(true ) if the actor is stationary. Otherwise , this value
is 0 (false ). |
Dimension | Dimensions of the actor, returned as a three-element numeric row vector of the form [length width height]. Units are in meters. Dependencies This column is optional,
and appears in the table only if |
writeLoc
— Storage location of actor trajectory information
string scalar
Storage location of the actor trajectory information, returned as a string scalar.
When you specify the SaveAs
argument as "none"
,
the function returns an empty array.
Version History
Introduced in R2022bR2023a_plus: Additional name-value arguments
You can now specify these additional name-value arguments:
SmoothWaypoints
SaveAs
WriteLocation
R2023a_plus: Additional output argument writeLoc
The actorprops
function can now return the location on disk
writeLoc
where the function stores the actor trajectory
information.
R2023a_plus: Output actorInfo
table contains additional actor trajectory information
The output actorInfo
table now includes these additional columns:
Time
Roll
Pitch
IsStationary
R2023a: Specify track list information using actorTracklist
object
The actorprops
function supports the actorTracklist
object to specify the tracklist
input. The object provides efficient
data structure to store actor track list data with timestamps. You can add or remove data
from the object and find track list information nearest to the specified timestamp.
See Also
actorTracklist
| selectActorRoads
| roadprops
| waypointTrajectory
(Sensor Fusion and Tracking Toolbox)
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