fit cuboid for for sequence of pcd data

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Pavan Kumar B N 2021-6-21

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此问题的直接链接

https://ww2.mathworks.cn/matlabcentral/answers/861175-fit-cuboid-for-for-sequence-of-pcd-data

评论： Elad Kivelevitch 2021-6-22

Hello All,

I am using this openExample('lidar/CuboidModelExample') example for fitting cuboid to non-ground objects. Can anyone please advice how to use it for a pcap file (streaming data)?

fileName    = 'test.pcap';
deviceModel = 'VLP16';
veloReader = velodyneFileReader(fileName, deviceModel);
% Read a scan of lidar data
ptCloud = readFrame(veloReader) %#ok<NOPTS>
roi = [0 40 -20 30 -7 7];
in = findPointsInROI(ptCloud,roi);
ptCloudIn = select(ptCloud,in);
hcluster = figure;
panel = uipanel('Parent',hcluster,'BackgroundColor',[0 0 0]);
ax = axes('Parent',panel,'Color',[0 0 0]); 
pcshow(ptCloudIn,'MarkerSize',30,'Parent',ax)
title('Input Point Cloud')
maxDistance = 0.3;
referenceVector = [0 0 1];
[~,inliers,outliers] = pcfitplane(ptCloudIn,maxDistance,referenceVector);
ptCloudWithoutGround = select(ptCloudIn,outliers,'OutputSize','full');
hSegment = figure;
panel = uipanel('Parent',hSegment,'BackgroundColor',[0 0 0]);
ax = axes('Parent',panel,'Color',[0 0 0]); 
pcshowpair(ptCloudIn,ptCloudWithoutGround,'Parent',ax)
legend('Ground Region','Non-Ground Region','TextColor', [1 1 1])
title('Segmented Ground Plane')
distThreshold = 1;
[labels,numClusters] = pcsegdist(ptCloudWithoutGround,distThreshold);
labelColorIndex = labels;
hCuboid = figure;
panel = uipanel('Parent',hCuboid,'BackgroundColor',[0 0 0]);
ax = axes('Parent',panel,'Color',[0 0 0]); 
pcshow(ptCloudIn.Location,labelColorIndex,'Parent',ax)
title('Fitting Bounding Boxes')
hold on
for i = 1:numClusters
    idx = find(labels == i);
    model = pcfitcuboid(ptCloudWithoutGround,idx);
    plot(model)
end