roadrunnerStaticObjectInfo
Generate static object and sign information in RoadRunner HD Map format
Since R2023a
Syntax
Description
generates static object, static object type, sign, and sign type information in RoadRunner HD Map format from parametric cuboid models of static objects and
signs.staticObjectInfo
= roadrunnerStaticObjectInfo(staticObjectCuboids
)
specifies additional parameters, such as the file path of a RoadRunner asset.staticObjectInfo
= roadrunnerStaticObjectInfo(staticObjectCuboids
,Params=params
)
Note
This function requires the Scenario Builder for Automated Driving Toolbox™ support package. You can install the Scenario Builder for Automated Driving Toolbox support package from the Add-On Explorer. For more information about installing add-ons, see Get and Manage Add-Ons.
Examples
Generate Static Object and Sign Information in RoadRunner HD Map Format
Generate static object and sign information in the RoadRunner HD Map format by using the cuboid parameters for trees, buildings, and signs extracted from data in the MATLAB® workspace. Load a MAT file containing static object data into the workspace. The data contains cuboid parameters for buildings, trees, cones, pylons, and signs.
load("staticObjectsData.mat")
Extract the parameters for buildings, trees, and signs.
staticObjectCuboids.buildings = cuboids{1}; staticObjectCuboids.trees = cuboids{2}; staticObjectCuboids.signs.stop = cuboids{5}; staticObjectCuboids.signs.yield = cuboids{6}; staticObjectCuboids.signPosts = cuboids{7};
Specify the file path to additional RoadRunner building parameter information, and the threshold at which to merge overlapping cuboids into a single cuboid.
params.buildings.AssetPath = ... fullfile("Assets","Buildings","Downtown_9mX14m_01_1storey.fbx_rrx"); params.buildings.OverlapThreshold = 0.7;
Specify the file path to additional RoadRunner tree asset parameter information.
params.trees.AssetPath = ... fullfile("Assets","Props","Trees","CalPalm_Trim_Med01.fbx_rrx");
Specify the file path to additional RoadRunner stop sign asset parameter information.
params.signs.stop.AssetPath = ... fullfile("Assets","Signs","Germany","Regulatory Signs","Sign_206.svg_rrx");
Using the cuboid parameters, generate static object and sign information in the RoadRunner HD Map scene format.
objectsInfo = roadrunnerStaticObjectInfo(staticObjectCuboids, ...
params=params);
Create an empty RoadRunner HD Map by using the roadrunnerHDMap
object.
rrMap = roadrunnerHDMap;
Add the generated static object and sign information to the RoadRunner HD Map object.
rrMap.StaticObjectTypes = objectsInfo.staticObjectTypes; rrMap.StaticObjects = objectsInfo.staticObjects; rrMap.SignTypes = objectsInfo.signTypes; rrMap.Signs = objectsInfo.signs;
Input Arguments
staticObjectCuboids
— Parametric cuboid model of static object
structure
Parametric cuboid model of a static object, specified as a structure with one or more of these fields:
buildings
trees
bushes
barricades
cones
pylons
electricPoles
signs
signPosts
miscellaneousObjects
The signs
field is a structure that contains a field
for each type of sign you specify, such as stop
,
yield
, stopHereForPedestrians
,
yieldHereToPedestrians
, pedestrianCrossingAhead
and miscellaneousSigns
. For a full list of sign fields, see Default Asset Paths for Signs.
Each field of the structure, and of the signs
structure, contains
an M-by-9 matrix. M is the number of static
objects of the type specified by that field. Each row of the matrix specifies a cuboid
model of a static object using the form [xctr
yctr
zctr
xlen
ylen
zlen
xrot
yrot
zrot].
xctr, yctr, and zctr specify the center coordinates of the cuboid.
xlen, ylen, and zlen specify the length of the cuboid, in meters, along the x-, y-, and z-axes, respectively, before rotation has been applied.
xrot, yrot, and zrot specify the rotation angles, in degrees, for the cuboid along the x-, y-, and z-axes, respectively. These angles are clockwise-positive when looking in the forward direction of their corresponding axes.
This figure shows how these values determine the position of a cuboid. All parameters are in the world coordinate system.
Data Types: struct
params
— Additional parameters of static object
structure
Additional parameters of a static object, specified as a structure. The fields of
the structure must match the fields of the staticObjectCuboids
structure.
The value of each field is a structure with these fields:
AssetPath
— Asset file path relative to RoadRunner project directory, specified as one of these options:String scalar — Specify the same asset file path for all instances of a specific type of static object.
M-element cell array of strings — Specify separate asset file paths for M number of static objects of the specified type.
For more information on default asset paths for static objects, see Default Asset Paths for Static Objects. For more information on default asset paths for signs, see Default Asset Paths for Signs.
OverlapThreshold
— Threshold at which to merge overlapping cuboids into a single cuboid, specified as a numeric scalar in the range (0, 1], where 1 indicates a complete overlap. The default value isNaN
for each static object. The function does not support merging cuboids of static objects with different asset file paths.The function computes the overlap ratio as the volume of intersection between two cuboids, divided by the minimum volume of the two cuboids. If the overlap ratio is greater than the specified threshold, then the function merges the two cuboids into a single cuboid.
Note
To specify the
OverlapThreshold
parameter, you must have a license for Lidar Toolbox™.
Data Types: struct
Output Arguments
staticObjectInfo
— Information of the static objects in RoadRunner HD map format
structure
Information of static objects in the RoadRunner HD map format, returned as a structure with these fields:
staticObjectTypes
— Types of the static objects, returned as an array ofroadrunner.hdmap.StaticObjectType
objects.staticObjects
— Representations of the static objects, returned as an array ofroadrunner.hdmap.StaticObject
objects.
If you specify cuboid parameters for signs in the input, then the function returns the structure with these additional fields:
signTypes
— Types of the signs, returned as an array ofroadrunner.hdmap.SignType
objects.signs
— Representations of the signs, returned as an array ofroadrunner.hdmap.Sign
objects.
More About
Default Asset Paths for Static Objects
This table defines the default asset path for each type of static object:
Type of Static Object | Default Asset File Path |
---|---|
buildings | "Assets/Buildings/Downtown_8mX15m_01_4storey.fbx_rrx" |
trees | "Assets/Props/Trees/Eucalyptus_Lg03.fbx_rrx" |
bushes | "Assets/Props/Trees/Bush_Sm06.fbx_rrx" |
cones | "Assets/Props/TrafficControl/TrafficCone01.fbx" |
pylons | "Assets/Props/TrafficControl/StripeSign01.fbx_rrx" |
barricades | "Assets/Props/Construction/Barricade02.fbx_rrx" |
electricPoles | "Assets/Assemblies/ElectricPoles02.rrpa_rrx" |
signPosts | "Assets/Props/Signals/SignPost_8ft.fbx_rrx" |
miscellaneousObjects | None
Note You must specify a valid asset file path for miscellaneous static objects.
|
Default Asset Paths for Signs
This table defines the default asset path for each type of sign:
Type of Sign | Default Asset File Path |
---|---|
stop | "Assets/Signs/US/Regulatory
Signs/Sign_R1-1.svg_rrx" |
yield | "Assets/Signs/US/Regulatory
Signs/Sign_R1-2.svg_rrx" |
stopHereForPedestrians | "Assets/Signs/US/Regulatory
Signs/Sign_R1-5b.svg_rrx" |
yieldHereToPedestrians | "Assets/Signs/US/Regulatory
Signs/Sign_R1-5.svg_rrx" |
pedestrianCrossingAhead | "Assets/Signs/US/Warning
Signs/Sign_PedestrianCrossingAhead.svg_rrx" |
schoolZoneAhead | "Assets/Signs/US/School Signs/Sign_S1-1.svg_rrx" |
leftDiagonalArrow | "Assets/Signs/US/Warning
Signs/Sign_W16-7P_L_03.svg_rrx" |
rightDiagonalArrow | "Assets/Signs/US/Warning
Signs/Sign_W16-7P_R_03.svg_rrx" |
parking | "Assets/Signs/UK/Sign_Parking.svg_rrx" |
noParking | "Assets/Signs/US/Regulatory
Signs/Sign_R8-3.svg_rrx" |
leftOrUTurn | "Assets/Signs/US/Regulatory
Signs/Sign_LeftOrUTurn.svg_rrx" |
noLeftOrUTurn | "Assets/Signs/US/Regulatory
Signs/Sign_NoUOrLeftTurn.svg_rrx" |
leftTurnAhead | "Assets/Signs/Japan/Warning
Signs/Sign_TurnLeft.svg_rrx" |
noLeftTurn | "Assets/Signs/US/Regulatory
Signs/Sign_R3-2.svg_rrx" |
rightTurnAhead | "Assets/Signs/Japan/Warning
Signs/Sign_203.svg_rrx" |
noRightTurn | "Assets/Signs/US/Regulatory
Signs/Sign_R3-1.svg_rrx" |
noUTurn | "Assets/Signs/US/Regulatory
Signs/Sign_R3-4.svg_rrx" |
roundabout | "Assets/Signs/US/Regulatory
Signs/Sign_R6-5P.svg_rrx" |
speedLimit | "Assets/Signs/US/Regulatory
Signs/Sign_R2-1(60).svg_rrx" |
keepLeft | "Assets/Signs/US/Regulatory
Signs/Sign_R4-8a.svg_rrx" |
keepRight | "Assets/Signs/US/Regulatory
Signs/Sign_R4-7a.svg_rrx" |
noEntry | "Assets/Signs/US/Regulatory
Signs/Sign_R5-1.svg_rrx" |
twoWayTraffic | "Assets/Signs/US/Warning
Signs/Sign_TwoWayTraffic.svg_rrx" |
oneWayTraffic | "Assets/Signs/UK/Sign_OneWayTraffic01.svg_rrx" |
dividedHighwayAhead | "Assets/Signs/US/Warning
Signs/Sign_W6-1_01.svg_rrx" |
dividedHighwayEnds | "Assets/Signs/US/Warning
Signs/Sign_W6-2_01.svg_rrx" |
leftLaneEnds | "Assets/Signs/US/Warning Signs/Signs_W4-2_01
Reversed.svg_rrx" |
rightLaneEnds | "Assets/Signs/US/Warning
Signs/Sign_W4-2_01.svg_rrx" |
roadNarrowsAhead | "Assets/Signs/US/Warning Signs/Signs_One lane road or road narrows
NY.svg_rrx" |
mergeLeftAhead | "Assets/Signs/US/Warning Signs/Signs_W4-1 01
Reversed.svg_rrx" |
mergeRightAhead | "Assets/Signs/US/Warning
Signs/Sign_W4-1_01.svg_rrx" |
railRoadCrossingAhead | "Assets/Signs/US/Warning
Signs/Sign_RailroadCrossingAhead.svg_rrx" |
noTrucks | "Assets/Signs/US/Regulatory
Signs/Sign_R5-2.svg_rrx" |
noStopping | "Assets/Signs/UK/Sign_NoStopping.svg_rrx" |
exit | "Assets/Signs/US/Expressway
Signs/Sign_E8-4.svg_rrx" |
noPedestrians | "Assets/Signs/US/Regulatory
Signs/Sign_R9-3.svg_rrx" |
noBikes | "Assets/Signs/US/Regulatory
Signs/Sign_R5-6.svg_rrx" |
bikeLaneAhead | "Assets/Signs/US/Warning Signs/Sign_W11-1.svg_rrx" |
slipperyRoadAhead | "Assets/Signs/US/Warning
Signs/Sign_W8-5_01.svg_rrx" |
windingRoadAhead | "Assets/Signs/US/Warning
Signs/Sign_WindingRoadAhead.svg_rrx" |
sideRoadLeftAhead | "Assets/Signs/US/Warning Signs/Signs_W2-2
Reversed.svg_rrx" |
sideRoadRightAhead | "Assets/Signs/US/Warning Signs/Sign_W2-2.svg_rrx" |
crossRoadAhead | "Assets/Signs/US/Warning Signs/Sign_W2-1.svg_rrx" |
tIntersectionAhead | "Assets/Signs/US/Warning
Signs/Sign_TIntersectionAhead.svg_rrx" |
yIntersectionAhead | "Assets/Signs/US/Warning
Signs/Sign_YIntersectionAhead.svg_rrx" |
noOvertaking | "Assets/Signs/UK/Sign_NoOvertaking.svg_rrx" |
slowDown | "Assets/Signs/US/Regulatory
Signs/Sign_R1-8.svg_rrx" |
Version History
Introduced in R2023aR2023b_plus: Generate sign information in RoadRunner HD Map format
The roadrunnerStaticObjectInfo
function can now generate sign and
sign type information in RoadRunner HD Map format from parametric cuboid models of signs.
MATLAB 命令
您点击的链接对应于以下 MATLAB 命令:
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