Simulate lidar measurements based on meshes in scenario
UAV Toolbox / UAV Scenario and Sensor Modeling
Use this block to simulate lidar measurements by outputting point cloud data based on
meshes in a UAV Scenario. To add meshes to your UAV Scenario, use the
addMesh function to
add it to the
included by your UAV Scenario
Configuration block. See UAV Scenario Tutorial for more information on adding
To use this block, ensure that UAV Scenario Configuration block is in your model.
The UAV Scenario blocks do not support:
Multiple instances of the UAV Scenario Configuration block
Rapid acceleration mode
In addition, the execution order is important when using these blocks in a closed loop simulation. The UAV Scenario Configuration block must execute first. The UAV Scenario Motion Write block must execute before the UAV Scenario Motion Read, UAV Scenario Lidar, and UAV Scenario Scope blocks.
Pointcloud— Point cloud data
Point cloud data reported in the Sensor Frame. When
point cloud locations is checked, the point cloud data is specified as a
N-by-M-by-3 double matrix, where
N is the number of vertical scans, and M is
the number of horizontal scans. When
Output organized point cloud
locations is unchecked, the point cloud data is specified as an
N-by-3 double matrix, where N is the number of
points in the point cloud.
Sensor name— Lidar name
'UAV/Lidar'(default) | string
Use Select to choose a lidar sensor from the UAV Scenario.
To add sensors to the UAV Scenario, create
objects with a
uavLidarPointCloudGenerator as the specified sensor model and attach the
uavSensor to a
UAV Scenario. This scenario must be imported into Simulink® using the UAV Scenario
Configuration block. The available sensors will be listed as
'platform name/sensor name'.
Max range— Max range of lidar
120(default) | double
Specify max range of lidar as a double scalar in meters.
Range Accuracy— Range accuracy of lidar
0.002(default) | double
Specify range accuracy of lidar as a double scalar in meters.
Azimuthal limits— Azimuthal limits of lidar
[-180, 180](default) | two-element vector
Specify azimuthal limits of lidar as a two-element vector in degrees.
Azimuthal resolution— Azimuthal resolution
0.16(default) | double
Specify azimuthal resolution of lidar as a double scalar in degrees.
Elevation limits— Elevation limits of lidar
[-20, 20](default) | two-element vector
Specify elevation limits of lidar as a two element vector in degrees.
Elevation resolution— Elevation resolution
1.25(default) | double
Specify elevation resolution of lidar as a double scalar in degrees.
Add noise to measurement— Add noise to measurement
Check this box to add noise to measurement of lidar. The noise generation of this block currently does not allow for a user-specified seed.
Output organized point cloud locations— Output point cloud locations
Check this box to output organized point cloud locations specified as
N-by-M-by-3, where N is the
number of vertical scans, and M is the number of horizontal scans. If
'off', the output of the block is an N-by-3
double matrix, where N is the number of points in the point
Sample Time— Sample time
0.1(default) | double
Specify sample time of the lidar as a double scalar in seconds. Sample time must be a multiple of the sample time specified in the UAV Scenario Configuration block.