Generate lidar point cloud data for driving scenario
Automated Driving Toolbox / Driving Scenario and Sensor Modeling
The Lidar Point Cloud Generator block generates a point cloud from lidar measurements taken by a lidar sensor mounted on an ego vehicle.
The block derives the point cloud from simulated roads and actor poses in a driving scenario and generates the point cloud at intervals equal to the sensor update interval. By default, detections are referenced to the coordinate system of the ego vehicle. The block can simulate added noise at a specified range accuracy by using a statistical model. The block also provides parameters to exclude the ego vehicle and roads from the generated point cloud.
The lidar generates point cloud data based on the mesh representations of the roads and actors in the scenario. A mesh is a 3-D geometry of an object that is composed of faces and vertices.
When building scenarios and sensor models using the Driving Scenario Designer app, the lidar sensors exported to Simulink® are output as Lidar Point Cloud Generator blocks.
C/C++ code generation is not supported.
For Each subsystems are not supported.
Rapid acceleration mode is not supported.
Use of the Detection Concatenation block with this block is not supported. You cannot concatenate point cloud data with detections from other sensors.
If a model does not contain a Scenario Reader block, then this block does not include roads in the generated point cloud.
Point cloud data is not generated for lane markings.