How to read and visualize my lidar data?

30 次查看（过去 30 天）
Kevin Chng
Kevin Chng 2019-4-16
回答： TripleSSSS 2020-4-30
Hi All,
My lidar data is in bin file :
https://techsource-my.sharepoint.com/:u:/g/personal/kevin_chng_techsource-asia_com/EfXGPElYfNxFum-3Vy7BVJ0BMzJWo2a1oWAK7vqzybdLJQ?e=ZxaW4D
Anyone here has any idea how to read my lidar data in MATLAB?
  3 个评论
显示 1更早的评论
Kevin Chng
Kevin Chng 2019-4-16
I'm not sure with that, i download the data from the link below:
https://www.nuscenes.org/download
personally, I feel they should be in pcd file, somehow the downloaded file is bin.
I have tried
fid = fopen('n008-2018-08-01-15-16-36-0400__LIDAR_TOP__1533151061547455.pcd.bin', 'r');
data = fread(fid, '*int16');
fclose(fid);
I get a series of numeric data (one column), should i restructure it to 3 coloumns to represent x,y,z? Any insight?
KSSV
KSSV 2019-4-16
Actually after reading the data using fread it will be reshaped to required dimension using reshape. To achieve this format of the file should be known.

请先登录，再进行评论。

请先登录，再回答此问题。

采纳的回答

KSSV
KSSV 2019-4-16
Is this fine?
fid = fopen('n008-2018-08-01-15-16-36-0400__LIDAR_TOP__1533151061547455.pcd.bin', 'r');
data = fread(fid,'single');
fclose(fid);
data = reshape(data,[],2) ;
plot(data(:,1),data(:,2),'.r')

更多回答（1 个）

TripleSSSS
TripleSSSS 2020-4-30
Read the data as a float using fread.
For nusences dataset each point in the point cloud contains 5 floats. reshape the data and use pcshow for display.

类别

在 Help Center 和 File Exchange 中查找有关 Image Processing and Computer Vision 的更多信息

标签

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by