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How to convert my data to fit the 'Build Map and Localize Using Segment Matching' example?

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seohyeon
seohyeon 2024-4-25
回答： Garmit Pant 2024-7-12
hello
I am following the matlab example from https://kr.mathworks.com/help/lidar/ug/build-a-map-and-localize-using-segment-matching.html#mw_rtc_BuildMapAndLocalizeUsingSegmentMatchingExample_M_27FCF3DD
I have my own 'Velodyne-VLP-16-Data.pcap' data with 1,537 frames collected using Velodyne Puck Lite sensor.
But since I don't know what the example data in this example looks like, I don't know how to apply my own data.
How can I convert my data to fit this example?
thank you.
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Ganesh
Ganesh 2024-5-7
Hi @seohyeon,
It would be okay for you to upload even a small sample of this data and your current approach so we can point you to the solution.

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回答（1 个）

Garmit Pant
Garmit Pant 2024-7-12
Hello Seohyeon
In the example that you are following, the lidar data is being read from a PNG file. Given that you have a PCAP-file, you can leverage MATLAB’s built-in function “velodyneFileReader” to read the point clouds from the file.
Kindly use the “velodyneFileReader” function along with the “readFrame” function to read the point cloud object which can then be used with “segmentLidarData” function. The following code snippet demonstrates how to read point cloud data from a PCAP-file and then visualise it.
p = velodyneFileReader("2023-03-27-13-34-03_Velodyne-VLP-16-Data (Frame 0 to 100).pcap",'VLP16')
timeDuration = p.StartTime + duration(0,0,1,Format='s');
ptCloudObj = readFrame(p,timeDuration);
figure
pcshow(ptCloudObj)
For further understanding, refer to the following MathWorks Documentation:
I hope you find the above explanation and suggestions useful!

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