Processing of LiDAR point cloud data

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Abhinand Gonibedu Dathatri
编辑： Pavan Kumar B N 2021-6-18
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

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Abhisek Pradhan
Abhisek Pradhan 2019-9-18
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.
https://www.mathworks.com/help/vision/lidar-and-point-cloud-processing.html
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Ahmed Iftekhar
Ahmed Iftekhar 2020-5-4
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
Pavan Kumar B N 2021-6-16
编辑：Pavan Kumar B N 2021-6-18
@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

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