Processing of LiDAR point cloud data
7 ビュー (過去 30 日間)
古いコメントを表示
Abhinand Gonibedu Dathatri
2019 年 9 月 12 日
編集済み: Pavan Kumar B N
2021 年 6 月 18 日
Hello,
I would like to project the selected section of point cloud data to ground OR flat. As we can see its like ramp but i need it flat. May i know to do it without loss of distance or data (not considerable amount). This is from .pcd file and collected using a LiDAR. This is a map of outside environment.
Kindly some suggestions ASAP
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/238085/image.jpeg)
0 件のコメント
採用された回答
Abhisek Pradhan
2019 年 9 月 18 日
Use pcread to read point cloud from PLY or PCD file. And extract the selected portion of data points using findPointsInROI. An the use segmentGroundFromLidarDatato segment ground points from organized lidar data.
Please refer the following link for more information.
4 件のコメント
Ahmed Iftekhar
2020 年 5 月 4 日
Hello,
I want to preprocess some lidar data in .pcd format. I tried "segmentGroundFromLidarData" algorithm to segment the groud but this code is written for .pcap format. In pcd fromat it has (m by n matrics size) on the other hand, pcap file has (m by n by 3 matrics) size.
Any thought of how to format pcd file into pcap file? or any other matlab libraries to deal with pcd file?
SIncerely,
Ahmed
Pavan Kumar B N
2021 年 6 月 16 日
編集済み: Pavan Kumar B N
2021 年 6 月 18 日
@Ahmed Iftekhar I hope it helps!
%% for PCAP files
veloReader = velodyneFileReader('file.pcap','VLP16');
ptCloudObj = readFrame(veloReader,44);
%% for PCD Files you use pcread
ptCloudObj = pcread('file.pcd');
ptCloudSegGround = pcdSegmentGround(ptCloudObj);
figure
pcshow(ptFilCloud)
hold on
plot(ptCloudSegGround)
function [model] = pcdSegmentGround(ptCloudSrc)
disp(size(ptCloudSrc.Location))
% Use pcfitplane
maxDistance = 0.2;
referenceVector = [0 0 1];
model = pcfitplane(ptCloudSrc, maxDistance, referenceVector)
end
その他の回答 (0 件)
参考
カテゴリ
Help Center および File Exchange で Point Cloud Processing についてさらに検索
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!