3D Point Cloud to Raster Image

Question

Abdul Hannan Qureshi 2022-4-22

0
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1702990-3d-point-cloud-to-raster-image

编辑： Abdul Hannan Qureshi 2022-4-25

采纳的回答： Walter Roberson

在 MATLAB Online 中打开

Is there any guideline available to generate raster image from point cloud (.ply) model ?.

Following is my model:

Following code I have managed to compile:

ptCloud = pcread('M.ply');
c = pca(ptCloud.Location);
TPCA = ptCloud.Location*c(1:3,:);
minX=min(TPCA(:,1));
maxX=max(TPCA(:,2));
minY=min(TPCA(:,2));
maxY=max(TPCA(:,2));
w_m=max(TPCA(:,1))-min(TPCA(:,1));
l_m=max(TPCA(:,2))-min(TPCA(:,2));
w_p=ceil(w_m/resolution);
l_p=ceil(l_m/resolution);
raster=zeros(h_p,w_p);
for i=1:length
    for j=1:width
            I=find(TPCA(:,1)>minX & TPCA(:,1)< ...
            minX+resolution & TPCA(:,2)>minY & ...
            TPCA(:,2)<minY+resolution);
        if isempty(I) 
            raster(i,j)=0;
        else
            raster(i,j)=1;
        end
        minX=minX+resolution;
    end
    minY=minY+resolution;
    minX=min(TPCA(:,1));
end
imshow(raster)

I am not getting any kind of outcome. Kindly advise.

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DGM 2022-4-25

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Answer 1

Walter Roberson 2022-4-23

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/1702990-3d-point-cloud-to-raster-image#answer_948850

在 MATLAB Online 中打开

        I=find(TransformPCA(:,1)>minX & TransformPCA(:,1)< ...
            minX+resolution_pix & TransformPCA(:,2)>minY & ...
            TransformPCA(:,2)<minY+resolution_pix);
        if isempty(I) 
            raster(i,j)=0;
        else
            raster(i,j)=1;
        end
    

I would point out to you that you could use a 2D histogram, and then your raster would be sign(the_histogram_values)

There are several ways to do a 2D histogram. One of the ways would be to discretize() the X and Y coordinates separately to get X and Y bin numbers, and then accumarray( [Y(:), X(:}], 1) . (The raw numbers would be a density map, by the way.)