Generating a 2D point cloud map

Question

0 个投票

Hello there

I have to generate point clouds which represents a room or a floor, as example. Also it should be able to add an error to the generator of the point cloud to make it more real (like a noise).

With a small section of the map it should than be possible to find out the location of this small section. Like SLAM without the mapping. Just localisation.

Maybe someone has a solution or some ideas to solve this.

Kind regard

Ramon

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darova 2019-9-27

Any ideas how to implement it?

Ramon 2019-9-28

编辑：Ramon 2019-9-29

在 MATLAB Online 中打开

Yes, i made some functions to make lines with errors.

%% Functions
% Function for generating a line out of points with an additional random
% error for one axis 
function[v_ret] = calc_v(start,fin,N,error)
    dv = (fin-start)/N;
    v = linspace(start,fin,N);
        if dv == 0
            dv = 1;
        end
    v_ret = v-(-error + (error+error)*rand(1,N))*dv;
end
% Function to concatenate two arrays. Returns concatenated array.
function[arr_x,arr_y] = concator(array_x,extension_x,array_y,extension_y)
    arr_x = [array_x extension_x];
    arr_y = [array_y extension_y];
end
% Function to add a cos-error 
function[arrayWithError] = addCosError(arr,step,err_amp,err_step)
    format = size(arr(1:step:end));
    len = format(2);
    i = linspace(1,err_step,len);
    arr(1:step:end) = arr(1:step:end) + err_amp*cos(pi.*i);
    arrayWithError = arr;
end
% Function for generate a point line for mapping
function [arr_x,arr_y] = setLine(x_start,x_fin,y_start,y_fin,rand_error,step_to_add_error,err_amp,err_period)
if (x_fin - x_start) > (y_fin - y_start)
    N = x_fin - x_start;
else 
    N = y_fin - y_start;
end
arr_x = addCosError(calc_v(x_start,x_fin,N,rand_error),step_to_add_error,err_amp,err_period);
arr_y = addCosError(calc_v(y_start,y_fin,N,rand_error),step_to_add_error,err_amp,err_period);
end