outlinePlotter

Outline plotter for bird's-eye plot

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Syntax

olPlotter = outlinePlotter(bep)
olPlotter = outlinePlotter(bep,Name,Value)

Description

olPlotter = outlinePlotter(bep) creates an 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 birdsEyePlot object, bep. To display the outlines of actors that are in a driving scenario, first use targetOutlines to get the dimensions of the actors. Then, after creating an outline plotter object, use the plotOutline function to display the outlines of all the actors in the bird's-eye plot.

example

olPlotter = outlinePlotter(bep,Name,Value) sets properties using one or more Name,Value pair arguments. For example, outlinePlotter(bep,'FaceAlpha',0) sets the areas within each outline to be fully transparent.

Examples

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Open Live Script

Create a driving scenario. Create a 25 m road segment, add a pedestrian and a vehicle, and specify their trajectories to follow. The pedestrian crosses the road at 1 m/s. The vehicle drives along the road at 10 m/s.

scenario = drivingScenario;

road(scenario,[0 0 0; 25 0 0]);

p = actor(scenario,'ClassID',4,'Length',0.2,'Width',0.4,'Height',1.7);
v = vehicle(scenario,'ClassID',1);

trajectory(p,[15 -3 0; 15 3 0],1);
trajectory(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.

chasePlot(v,'Centerline','on')

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);

   % Update the bird's-eye plotters with the road and actors.
   plotLaneBoundary(lbPlotter,rb);
   plotOutline(olPlotter,position,yaw,length,width, ...
               'OriginOffset',originOffset,'Color',color);

   % Allow time for plot to update.
   pause(0.01)
end

Input Arguments

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Bird’s-eye plot, specified as a birdsEyePlot object.

Name-Value Pair Arguments

Specify optional comma-separated pairs of Name,Value arguments. Name is the argument name and Value is the corresponding value. Name must appear inside quotes. You can specify several name and value pair arguments in any order as Name1,Value1,...,NameN,ValueN.

Example: outlinePlotter('FaceAlpha',1) sets the areas within each outline to be fully opaque.

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 associated with the plotter object, specified as the comma-separated pair consisting of 'Tag' and a character vector or string scalar. The default value is 'PlotterN', where N is an integer that corresponds to the Nth plotter associated with the input birdsEyePlot object.

Output Arguments

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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 outlinePlotter function.

olPlotter is stored in the Plotters 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. Then, after calling outlinePlotter to create a plotter object, use plotOutline to plot the outlines of all the actors in a bird's-eye plot.

See Also

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Introduced in R2017b

Automated Driving Toolbox Documentation

Support