lidarPointCloudGenerator
Description
The lidarPointCloudGenerator
System object™ generates detections from a lidar sensor mounted on an ego vehicle. All
detections are referenced to the coordinate system of the ego vehicle or the vehicle-mounted
sensor. You can use the lidarPointCloudGenerator
object in a
scenario containing actors and trajectories, which you can create by using a drivingScenario
object. Using a statistical sensor model, lidarPointCloudGenerator
object can simulate real detections with added random
noise.
To generate lidar point clouds:
Create the
lidarPointCloudGenerator
object and set its properties.Call the object with arguments, as if it were a function.
To learn more about how System objects work, see What Are System Objects?
Creation
Description
creates a
lidar
= lidarPointCloudGeneratorlidarPointCloudGenerator
object with default property
values to generate a point cloud for a lidar sensor.
sets properties using
one or more name-value pairs. For example,
lidar
= lidarPointCloudGenerator(Name,Value
)lidarPointCloudGenerator('DetectionCoordinates','Sensor
Cartesian','MaxRange',200)
creates a lidar point cloud generator that reports
detections in the sensor Cartesian coordinate system and has a maximum detection range of
200 meters. Enclose each property name in quotes.
Properties
Usage
Syntax
Description
[
additionally returns ptCloud
,isValidTime
] = lidar(actors
,rdMesh
,simTime
)isValidTime
, which indicates whether the point
cloud is generated at the specified simulation time.
Input Arguments
Output Arguments
Object Functions
To use an object function, specify the
System object as the first input argument. For
example, to release system resources of a System object named obj
, use
this syntax:
release(obj)
Examples
Version History
Introduced in R2020a
See Also
Objects
objectDetection
|drivingScenario
|laneMarking
|lanespec
|monoCamera
|multiObjectTracker
|drivingRadarDataGenerator
|visionDetectionGenerator
|extendedObjectMesh
|insSensor