Lidar Point Cloud 3D Show

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Elad Soll
Elad Soll 2019-11-23
评论： Anand 2020-5-20
Hi
I have a problem to show lidar point cloud by "build lidar map" example.
I took step by step, but only for the lidar sensor. I changed timerange field function inorder to adjust time and ptCloud values to the lidar variables, but I can not see point cloud on my figure.
Note - there is not complier error.
Please help.
my code:
data = load('lidarPointClouds');
lidarPointClouds = data.lidarPointClouds;
head(lidarPointClouds);%8x1 timetable
lidarFrameDuration = median(diff(lidarPointClouds.Time));
lidarFrameDuration.Format = 's';%Adjust display format to sec
lidarRate = 1/seconds(lidarFrameDuration);%Frame rates
%Display frame durations and rates
fprintf('Lidar:%s %3.1f Hz\n',char(lidarFrameDuration),lidarRate);
%Customize axis
xlimits = [-45 45];
ylimits = [-45 45];
zlimits = [-10 20];
lidarPlayer = pcplayer(xlimits,ylimits,zlimits);
xlabel(lidarPlayer.Axes,'X(m)');
ylabel(lidarPlayer.Axes,'Y(m)');
zlabel(lidarPlayer.Axes,'Z(m)');
title(lidarPlayer.Axes,'Lidar Sensor Data');
% Reading Lidar Point Cloud by a loop
lidarFrames = 0; timeSpan = 0 ;ptCloud = 0;
for i = 1:height(timetable)-1
timeSpan = timerange(lidarPointClouds.Time(1),lidarPointClouds.Time(1000),'closed');
lidarFrames = lidarPointClouds(timeSpan,:);
ptCloud = lidarFrames.PointCloud(i);
view(lidarPlayer,ptCloud);
pause(0.01);
end
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aws hawary
aws hawary 2020-4-13
Hello
I have a question if anyone could help me
I got Data LIDAR files ( pcap and csv)
I wanna to apply that data but the files should be compatible with MATLAB platform .. How can I read all the frames of ply file .. I read the total of pcap but I need the frames #separately for each timestamp

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回答（1 个）

Sai Bhargav Avula
Sai Bhargav Avula 2019-12-6
Hi,
Here is updated code that works for simple lidarPointCloud. I think the issue with your code is 'timetable' wasnot defined properly
data = load('lidarPointClouds.mat');
lidarPointClouds = data.lidarPointClouds;
head(lidarPointClouds);%8x1 timetable
lidarFrameDuration = median(diff(lidarPointClouds.Time));
lidarFrameDuration.Format = 's';%Adjust display format to sec
lidarRate = 1/seconds(lidarFrameDuration);%Frame rates
%Display frame durations and rates
fprintf('Lidar:%s %3.1f Hz\n',char(lidarFrameDuration),lidarRate);
%Customize axis
xlimits = [-45 45];
ylimits = [-45 45];
zlimits = [-10 20];
lidarPlayer = pcplayer(xlimits,ylimits,zlimits);
xlabel(lidarPlayer.Axes,'X(m)');
ylabel(lidarPlayer.Axes,'Y(m)');
zlabel(lidarPlayer.Axes,'Z(m)');
title(lidarPlayer.Axes,'Lidar Sensor Data');
% Reading Lidar Point Cloud by a loop
lidarFrames = 0; timeSpan = 0 ;ptCloud = 0;
timeSpan = timerange(lidarPointClouds.Time(1),lidarPointClouds.Time(1000),'closed');
lidarFrames = lidarPointClouds(timeSpan,:);
for i = 1:height(lidarFrames)-1
ptCloud = lidarFrames.PointCloud(i);
view(lidarPlayer,ptCloud);
pause(0.01);
end
Hope this helps!
  2 个评论
aws hawary
aws hawary 2020-4-13
Hello
I have a question if anyone could help me
I got Data LIDAR files ( pcap and csv)
I wanna to apply that data but the files should be compatible with MATLAB platform .. How can I read all the frames of ply file .. I read the total of pcap but I need the frames #separately for each timestamp
Anand
Anand 2020-5-20
If you have the PCAP file, you can use the velodyneFileReader class to read frames from it using the readFrame function.
If you have PLY files, you can use the pcread function to read each PLY file.

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