I can't synchronize lidar and camera together for fusion

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Ali sameh
Ali sameh 2023 年 12 月 16 日
回答済み: Sanjana 2025 年 1 月 21 日
This my code. When I move camera detects that am moving then 5 seconds later I start moving in the lidar.
% lidarFig = subplot(1, 2, 2); % Create subplot for lidar data
countinueStreaming = true;
while countinueStreaming
% Record the current timestamp before capturing the image
% Capture the image from the Jetson camera hardware.
I = snapshot(cam);
% Record the timestamp after capturing the image
% Call to detect method
[bboxes, scores, labels] = detect(detector, I);
personIndices = find(labels == 'person');
personBboxes = bboxes(personIndices, :);
% Convert categorical labels to cell array of character vectors
labels = cellstr(labels);
% Annotate detections in the camera image.
img = insertObjectAnnotation(I, 'rectangle', bboxes, labels);
% Display camera image
imshow(img);
hold on;
% Read data from Velodyne Lidar
pc = read(lidar);
% Remove ground plane
groundPtsIndex = segmentGroundFromLidarData(pc, 'ElevationAngleDelta', 0, ...
'InitialElevationAngle', 0);
nonGroundPts = select(pc, ~groundPtsIndex);
imPts = projectLidarPointsOnImage(pc, intrinsics, LidarToCam);
scatter(imPts(:, 1), imPts(:, 2), 10, 'g', 'filled');
% Display lidar data
% pcshow(nonGroundPts.Location, 'Parent', lidarFig);
if ~isempty(personIndices)
for i = 1:numel(personIndices)
index = personIndices(i);
personBbox = bboxes(index, :);
% Process lidar data for each detected person
[lidarBbox, ~, boxUsed] = bboxCameraToLidar(personBbox, nonGroundPts, intrinsics, ...
camToLidar, 'ClusterThreshold', 2, 'MaxDetectionRange', [1, 10]);
[distance, nearestRect, idx] = helperComputeDistance(personBbox, nonGroundPts, lidarBbox, ...
intrinsics, LidarToCam);
% Print distance information
fprintf('DistOfPerson %d: %.2f meters\n', i, distance);
% Update image with bounding boxes
% im = updateImage(display, im, nearestRect, distance);
% updateLidarBbox(display, lidarBbox)
end
else
% Process lidar data for other objects
[lidarBbox, ~, boxUsed] = bboxCameraToLidar(bboxes, nonGroundPts, intrinsics, ...
camToLidar, 'ClusterThreshold', 2, 'MaxDetectionRange', [1, 10]);
[distance, nearestRect, idx] = helperComputeDistance(bboxes, nonGroundPts, lidarBbox, ...
intrinsics, LidarToCam);
% Print distance information
fprintf('DistOfObj: %.2f meters\n', distance);
% Update image with bounding boxes
% im = updateImage(display, im, nearestRect, distance);
% updateLidarBbox(display, lidarBbox)
end
hold off;
end
  2 件のコメント
Image Analyst
Image Analyst 2023 年 12 月 16 日
I don't understand the statement. Can you type it into Google translator
in your native language and then paste the translation here.
I don't even see a question. There is no sentence that ends with a question mark.
Ali sameh
Ali sameh 2023 年 12 月 17 日
Look my camera and lidar isn't synchronised. There is a lidar delay of 5 seconds from the camera my question is how can I synchronise lidar and camera together?

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回答 (1 件)

Sanjana
Sanjana 2025 年 1 月 21 日
Hi,
To Synchronize Camera Sensor Data and Lidar Sensor Data, you can use the synchronize function of scenariobuilder sensorData objects.
Kindly, refer to the following code to synchronize LidarData with CameraData,
% Step - 1: Create a scenariobuilder.LidarData object
% timestamps - timestamps of lidarData
% pointClouds - Lidar point cloud data
lidarData = scenariobuilder.LidarData(timestamps,pointClouds)
% Step - 2: Create a scenariobuilder.CameraData object
% timestamps - timestamps of cameraData
% frames - frames of images of cameraData
cameraData = scenariobuilder.CameraData(frames,timestamps);
% Step - 3: Synchronize LidarData with CameraData as reference using the synchronize
% function of LidarData
synchronizedLidarData = synchronize(lidarData,cameraData);
Refer to the following documentation for more information,
Hope this helps!

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