Curved Road

Explore Curved Road Scene

Explore the 3D Curved Road scene and inspect its dimensions by using a corresponding 2D top-view image of the scene.

You can use this image to inspect the scene before simulation and choose starting coordinates for vehicles. For details on using these images to select waypoints for path-following applications, see the Select Waypoints for Unreal Engine Simulation example.

Load the 2D spatial referencing object that corresponds to the scene. This imref2d (Image Processing Toolbox) object describes the relationship between the pixels in the image and the world coordinates of the scene.

data = load('sim3d_SpatialReferences.mat');
spatialRef = data.spatialReference.CurvedRoad

spatialRef = 
  imref2d with properties:

           XWorldLimits: [-1.4918e+03 367.9000]
           YWorldLimits: [-191.4200 1.6683e+03]
              ImageSize: [4845 4845]
    PixelExtentInWorldX: 0.3838
    PixelExtentInWorldY: 0.3838
    ImageExtentInWorldX: 1.8597e+03
    ImageExtentInWorldY: 1.8597e+03
       XIntrinsicLimits: [0.5000 4.8455e+03]
       YIntrinsicLimits: [0.5000 4.8455e+03]

Display the image corresponding to the scene. Use the spatial referencing object to display the axes in the world coordinates of the scene. Units are in meters.

By default, the imshow function displays Y-axis values that increase from top to bottom. To align with the Automated Driving Toolbox™ world coordinate system, set the Y-direction to 'normal' so that Y-axis values increase from bottom to top.

figure
fileName = 'sim3d_CurvedRoad.jpg';
I = imshow(fileName,spatialRef);
set(gca,'YDir','normal')
xlabel('X (m)')
ylabel('Y (m)')

Zoom in on the origin of the scene. Place a marker at the origin.

xlim([-100 250])
ylim([-200 150])

hold on
plot(0,0,'o','MarkerFaceColor','r','MarkerEdgeColor','k','MarkerSize',8)
offset = 5; % px
text(offset,offset,'(0,0)','Color','k','FontWeight','bold','FontSize',12)
hold off