UAV Scenario Scope

Visualize UAV scenario and lidar point clouds

Since R2021b

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Libraries:
UAV Toolbox / UAV Scenario and Sensor Modeling

Description

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 Lidar Sensors table.

To use this block, ensure that UAV Scenario Configuration block is in your model.

Examples

Simulate UAV Scenario Using Scenario Blocks

Use the UAV scenario blocks to simulate a scenario in Simulink®.

• Open Live Script

Limitations

The UAV Scenario blocks do not support:

• Code generation

• Model reference

• 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.

Ports

Input

In_1, In_2, ..., In_N — Point cloud data inputs for lidar sensors

N-by-M-by-3 double matrix | N-by-3 double matrix

Input point cloud data for sensors in the UAV Scenario. An input port is created for every lidar sensor checked for visualization in the Lidar Sensors table in the Visualize column. The name of the port is set to the name 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 platform named EgoVehicle will have the name, EgoVehicle/Lidar.

If the 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 'off', the input port expects an N-by-3 double matrix, where N is the number of points in the point cloud.

Parameters

Lidar Sensors — List of lidar sensors and their visualization

table

The 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 lidar sensor.

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 Lidar Sensors table.

Click Show animation to show or hide the animation figure for the UAV scenario.

Sample time — Sample time

0.1 (default)

Specify sample time of the visualization. If Sample time is set to -1, this block uses the sample time specified in the UAV Scenario Configuration block.

More About

Animation Window Buttons

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.

Version History

Introduced in R2021b