Draw Box on view and pcplayer

Question

Mert Saracoglu 2020-9-16

1
链接

此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/594718-draw-box-on-view-and-pcplayer

编辑： Pavan Kumar B N 2021-6-20

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 =
9205   25.9202    5.9978
9655    7.6629    0.1411
2301    7.6634    0.1338
1852   25.9207    5.9905
9206   25.9228    5.9896
9656    7.6655    0.1329
2302    7.6660    0.1256
1853   25.9233    5.9823

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Mert Saracoglu 2021-5-28

在 MATLAB Online 中打开

view(player,ptCloud);
showShape('cuboid',cuboidPosition, ...
    'Parent',player.Axes, ...
    'Color','red', ...
    'Opacity',0.10)
drawnow

Where,

cuboidPosition = [center_x center_y center_z length_x length_y length_z]

I think you can achieve the same thing by tweaking this code snippet.

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!!

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Answer 1

Aditya Patil 2020-9-24

0
链接

此回答的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/594718-draw-box-on-view-and-pcplayer#answer_499489

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.