Draw Box on view and pcplayer
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Hi guys, I'm currently working on pointclouds generated from LiDAR sensors. My goal is to detect the object and draw a bounding box around it.
I can calculate the coordinates of the corner points of the bounding box. However, I do not know how can I draw the bounding box dynamically into the pcplayer view that I'm visualizing my pointcloud.
How can I visualize both my pointcloud and also draw the bounding box dynamically on the same view?
Thanks in advance.
This is my code :
veloReader = velodyneFileReader('%pathtomypcapfile%','VLP16');
duration = 150; % seconds %
xlimits = [-60 60];
ylimits = [-60 60];
zlimits = [-5 50];
player = pcplayer(xlimits,ylimits,zlimits);
xlabel(player.Axes,'X (m)');
ylabel(player.Axes,'Y (m)');
zlabel(player.Axes,'Z (m)');
veloReader.CurrentTime = veloReader.StartTime + seconds(0.3);
while(hasFrame(veloReader) && player.isOpen() && (veloReader.CurrentTime < veloReader.StartTime + seconds(duration)))
ptCloud = readFrame(veloReader);
cornerpoints = myFunctionToCalculateBoundingBox(ptCloud);
view(player,ptCloud.Location,ptCloud.Intensity);
pause(0.05);
end
and myFunctionToCalculateBoundingBox returns points as 8x3 matrix :
>> cornerpoints
cornerpoints =
0.9205 25.9202 5.9978
0.9655 7.6629 0.1411
0.2301 7.6634 0.1338
0.1852 25.9207 5.9905
0.9206 25.9228 5.9896
0.9656 7.6655 0.1329
0.2302 7.6660 0.1256
0.1853 25.9233 5.9823
5 个评论
Pavan Kumar B N
2021-6-16
编辑:Pavan Kumar B N
2021-6-20
@Mert Saracoglu Thank you for sharing!! I am also working on lidar-based object detection and tracking. Could you please provide details/source that how you have achieved? Thank you very much!!
回答(1 个)
Aditya Patil
2020-9-24
编辑:Aditya Patil
2020-9-24
In R2020b, we have released the Lidar labeler app that will allow you to visualize and label Lidar datasets. You can Get Started with the Lidar Labeler documentation.
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