write

Write OSI data to binary file

Since R2024b

Syntax

write(osiData,filename)

Description

write(osiData,filename) writes the OSI data of each sensor to a distinct binary file with a .txt extension. The filenames for the output binary files follow this format: <timestamp>_<type>_<osi-version>_<protobuf-version>_<number-of-frames>_<filename>_<sensor-name>.txt.

Examples

Generate OSI Trace File Using Multiple Sensors

Create a roadrunner object to launch the RoadRunner application, which then connects to the project folder at the specified path.

rrApp = roadrunner(ProjectFolder="C:\OsiRoadRunnerProject\");

Open the scenario file TrajectoryCutIn.rrscenario. This scenario is included with the RoadRunner Scenario application.

openScenario(rrApp,"TrajectoryCutIn");

Create scenarioSim, a ScenarioSimulation object, to connect MATLAB® to the RoadRunner Scenario simulation.

scenarioSim = createSimulation(rrApp);

Create sensorSim, a RoadRunner SensorSimulation object, to control the sensor configuration for the RoadRunner Scenario simulation.

sensorSim = get(scenarioSim,"SensorSimulation");

Configure sensor models for a radar and a vision sensor, to add to the ego vehicle, using drivingRadarDataGenerator and visionDetectionGenerator objects. Specify a unique ID for each sensor.

radar = drivingRadarDataGenerator(SensorIndex=1, ...
      MountingLocation=[2.4 0 0.2], ...
      RangeLimits=[0 100], ...
      TargetReportFormat="Detections");

camera = visionDetectionGenerator(SensorIndex=2, ...
          SensorLocation=[2.4 0], ...
          MaxRange=50, ...
          DetectorOutput="Objects only", ...
          UpdateInterval=0.1);
sensors = {radar camera};

Add the sensors to the ego vehicle actor in the RoadRunner scenario. Specify the Actor ID property of the vehicle.

egoVehicleID = 1;
addSensors(sensorSim,sensors,egoVehicleID);

Create osiData, a RoadRunner openSimulationInterface object, to store RoadRunner Scenario simulation data in OSI format.

osiData = openSimulationInterface(scenarioSim,sensors);

Start the RoadRunner simulation, storing the scenario simulation data in OSI format in the osiData object.

startRoadRunnerSimulation(osiData);

Specify a custom filename for the output binary files with a .txt extension, and write the OSI data from each sensor to a distinct OSI trace file.

write(osiData,"testEgoFollowSpeed.txt");

Input Arguments

osiData — Open simulation interface object

openSimulationInterface object

Open simulation interface object to write in binary format, specified as an openSimulationInterface object.

filename — OSI trace filename

character vector | string scalar

OSI trace filename, specified as a character vector or string scalar. You must specify a filename that ends with a .txt extension. If you do not specify filename, then RoadRunner returns an error.

Example: write(osiData,"testEgoFollowSpeed.txt") saves the OSI trace file for a scenario with a radar sensor as 20240624160337_sv_350_300_501_testEgoFollowSpeed_Radar1.txt. Note that the specific timestamp, type, version numbers, number of frames, and sensor name might differ depending on your specified openSimulationInterface object.

Data Types: char | string

Version History

Introduced in R2024b