normalizeTimestamps

Normalize timestamps of sensor data object

Since R2024b

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Syntax

normalizeTimestamps(sensorDataObj)
normalizeTimestamps(sensorDataObj,timeOrigin)
timeOrigin = normalizeTimestamps(___)

Description

Add-On Required: This feature requires the Scenario Builder for Automated Driving Toolbox add-on.

normalizeTimestamps(sensorDataObj) normalizes timestamps by subtracting the first timestamp from all timestamps in the input sensor data object sensorDataObj, and updates the sensor data object sensorDataObj.

example

normalizeTimestamps(sensorDataObj,timeOrigin) normalizes timestamps by subtracting the specified reference time timeOrigin from all timestamps in the input sensor data object sensorDataObj, and updates the sensor data object sensorDataObj.

timeOrigin = normalizeTimestamps(___) returns the subtracted reference time timeOrigin.

Examples

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This example uses:

Open Live Script

Load recorded GPS data into the workspace.

load("recordedGPSData.mat")

Initialize a GPSData object using the information from the GPS data.

gpsData = scenariobuilder.GPSData(timestamps, ...
                latitudes,longitudes,altitudes, ...
                Name="GPSSensor");

Display first few timestamps.

head(gpsData.Timestamps)
   1.0e+09 *

    1.4616
    1.4616
    1.4616
    1.4616
    1.4616
    1.4616
    1.4616
    1.4616

Normalize the timestamps of the created GPS data object.

normalizeTimestamps(gpsData)

Display first few normalized timestamps.

head(gpsData.Timestamps)
         0
    0.0498
    0.0996
    0.1497
    0.1995
    0.2495
    0.2995
    0.3505

This example uses:

Open Live Script

Load recorded GPS data into the workspace.

load("recordedGPSData.mat","X","Y","Z","timestamps")

Create a trajectory object by using the loaded timestamps and xyz-coordinates.

traj = scenariobuilder.Trajectory(timestamps,X,Y,Z);

Normalize the timestamps of the created trajectory object.

normalizeTimestamps(traj)

Smooth the trajectory.

smooth(traj)

Specify the path to your local RoadRunner installation folder. This code shows the path for the default installation location on Windows®.

rrAppPath = "C:\Program Files\RoadRunner " + matlabRelease.Release + "\bin\win64";

Specify the path to your RoadRunner project. This code shows the path to a sample project folder on Windows.

rrProjectPath = "C:\RR\MyProject";

Open RoadRunner using the specified path to your project.

rrApp = roadrunner(rrProjectPath,InstallationFolder=rrAppPath);

Export the trajectory to RoadRunner using the open RoadRunner instance rrApp.

exportToRoadRunner(traj,rrApp)
Connection status: 1
Connected to RoadRunner Scenario server on localhost:60729, with client id {3c191baf-8c50-4639-bf64-ce9b078522e3}

Visualize the trajectory exported to RoadRunner.

Trajectory exported to RoadRunner.

Input Arguments

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Sensor data, specified as a GPSData object, Trajectory object, CameraData object, LidarData object, or an ActorTrackData object.

Reference time to subtract from all timestamps, specified as a nonnegative scalar. The data type of the TimeOrigin value and the data type of the Timestamps property must be the same. If you specify a nonnegative scalar, units must be in seconds.

The function subtracts the TimeOrigin value from all timestamps and updates the Timestamps property with the subtracted timestamps.

Data Types: single | double

Output Arguments

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Reference time subtracted from all timestamps, returned as a nonnegative scalar. Units are in seconds.

Data Types: single | double

Version History

Introduced in R2024b

See Also

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