Create point cloud map from LiDAR point cloud

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Bram Surewaard
Bram Surewaard 2020-9-23
编辑： Superficial 2020-10-6
Hey,
I am trying to create a point cloud to test my algorithms on as proposed in this example: https://web.archive.org/web/20200918102414/https://webcache.googleusercontent.com/search?q=cache%3A4mpKtXGvnHAJ%3Ahttps%3A%2F%2Fwww.mathworks.com%2Fhelp%2Fdriving%2Fexamples%2Fsimulate-lidar-sensor-perception-algorithm.html (odd link due to the example being removed from mathworks)
However I can not get it working and get the following error:
Error using pcregisterndt (line 172)
No valid voxel is found in the fixed point cloud.
Error in helperLidarMapBuilder/updateMap (line 235)
tform = pcregisterndt(this.Moving, this.Fixed, ...
Error in OwnSimulationCode (line 52)
updateMap(mapBuilder,Cloud);
Anybody know how I can get it working? I don't understand the error.
Thanks!

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回答（1 个）

Superficial
Superficial 2020-10-6
编辑：Superficial 2020-10-6
It's saying that the fixed point cloud is not valid. This could be because this.Fixed is not a properly initiated Point Cloud object.
Without an example, it's hard to be sure but you can try:
Can you visualise the clouds using pcshow?
pcshow(this.Fixed)
Even better, view them both together:
pcshowpair(this.Moving,this.Fixed)
If the two point clouds are in different coordinates then pcregisterndt will have a hard time joining them.

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