Visualize UAV scenario and lidar point clouds
UAV Toolbox / UAV Scenario and Sensor Modeling
Use this block to visualize a UAV scenario and lidar point clouds in an animation figure window. Click Show animation in the block parameters to visualize the UAV scenario. The visualization in the figure window updates continuously as the model is running.
An input port is created for every sensor checked for visualization in the
Visualize column of the
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.
In_1, In_2, ..., In_N— Point cloud data inputs for lidar sensors
Input point cloud data for sensors in the UAV Scenario. An input port is created
for every lidar sensor checked for visualization in the
Sensors table in the Visualize column. The name of
the port is set to the name of the of the sensor, which includes the name of the
platform the sensor belongs too. For example, an input port for a lidar sensor on a
EgoVehicle will have the name,
Organized point cloud locations parameter of the lidar
sensor is set to
'on', then the input port expects a
N-by-M-by-3 double matrix, where
N is the number of vertical scans, and M is
the number of horizontal scans. If the
Organized point cloud
locations of the lidar sensor is set to
input port expects an N-by-3 double matrix, where
N is the number of points in the point cloud.
Lidar Sensors— List of lidar sensors and their visualization
Lidar Sensors table lists all of the lidar sensors in the
UAV scenario. In the first column, Sensor name, all of the sensor
names are listed with their associated platform as 'platform name/sensor
name'. The second column, Visualize, contains a
check-box for every lidar sensor in the table. Setting a visualization to
'on' for a lidar sensor creates an input port with the name of that
Enter a string in the Filter table contents to filter through the list of sensors by their name in the Sensor Name column of the table.
If the list of lidar sensors in the UAV Scenario has changed, click
Refresh sensor table to update the
Click Show animation to show or hide the animation figure for the UAV scenario.
Sample time— Sample time
Specify sample time of the visualization. If
Sample time is set
-1, this block uses the sample time specified in the UAV Scenario
Change the focus between platforms by using the previous view and next view buttons. Previous view will show the previous platform in the list of platforms. If the view is already focused on the first platform in the list, it will change to home view. Next performs similarly, changing to home view if the view is currently focused on the last platform.
Rotate, Pan, Zoom, and Home all interact with the animation the same as they do for regular plots.