Add the prebuilt car mesh to a driving scenario. Then, uselidarPointCloudGeneratorSystem object™ to generate a point cloud of the car mesh.

Create and show the prebuilt car mesh.

mesh = driving.scenario.carMesh; show(mesh);

Create a driving scenario.

s = drivingScenario;

Add a straight road to the driving scenario. The road has one lane in each direction.

road(s,[0 0 0; 25 0 0],'Lanes',lanespec([1 1]));

Add a car as an ego vehicle and as a non-ego actor.

egoVehicle = vehicle(s,'ClassID',1,'Mesh',mesh); smoothTrajectory(egoVehicle,[1 -2 0; 21.3 -2 0],20); car = vehicle(s,'Position',[15 2 0],'Yaw',180,'ClassID',1,'Mesh',mesh);

Plot the driving scenario. Set name-value pair'Meshes','on'to show the meshes of the actors in the plot.

plot(s,'Meshes','on');

Create alidarPointCloudGeneratorSystem object. Set the actor profiles of the System object to those in the driving scenario.

lidar = lidarPointCloudGenerator; lidar.ActorProfiles = actorProfiles(s);

Generate a lidar point cloud of the driving scenario.

player = pcplayer([-20 20],[-10 10],[0 4]);whileadvance(s) tgts = targetPoses(egoVehicle); rdmesh = roadMesh(egoVehicle); [ptCloud,isValidTime] = lidar(tgts,rdmesh,s.SimulationTime);ifisValidTime view(player,ptCloud);endend