I can't synchronize lidar and camera together for fusion

조회 수: 10 (최근 30일)
Ali sameh
Ali sameh 2023년 12월 16일
답변: Sanjana 2025년 1월 21일
This my code. When I move camera detects that am moving then 5 seconds later I start moving in the lidar.
% lidarFig = subplot(1, 2, 2); % Create subplot for lidar data
countinueStreaming = true;
while countinueStreaming
% Record the current timestamp before capturing the image
% Capture the image from the Jetson camera hardware.
I = snapshot(cam);
% Record the timestamp after capturing the image
% Call to detect method
[bboxes, scores, labels] = detect(detector, I);
personIndices = find(labels == 'person');
personBboxes = bboxes(personIndices, :);
% Convert categorical labels to cell array of character vectors
labels = cellstr(labels);
% Annotate detections in the camera image.
img = insertObjectAnnotation(I, 'rectangle', bboxes, labels);
% Display camera image
imshow(img);
hold on;
% Read data from Velodyne Lidar
pc = read(lidar);
% Remove ground plane
groundPtsIndex = segmentGroundFromLidarData(pc, 'ElevationAngleDelta', 0, ...
'InitialElevationAngle', 0);
nonGroundPts = select(pc, ~groundPtsIndex);
imPts = projectLidarPointsOnImage(pc, intrinsics, LidarToCam);
scatter(imPts(:, 1), imPts(:, 2), 10, 'g', 'filled');
% Display lidar data
% pcshow(nonGroundPts.Location, 'Parent', lidarFig);
if ~isempty(personIndices)
for i = 1:numel(personIndices)
index = personIndices(i);
personBbox = bboxes(index, :);
% Process lidar data for each detected person
[lidarBbox, ~, boxUsed] = bboxCameraToLidar(personBbox, nonGroundPts, intrinsics, ...
camToLidar, 'ClusterThreshold', 2, 'MaxDetectionRange', [1, 10]);
[distance, nearestRect, idx] = helperComputeDistance(personBbox, nonGroundPts, lidarBbox, ...
intrinsics, LidarToCam);
% Print distance information
fprintf('DistOfPerson %d: %.2f meters\n', i, distance);
% Update image with bounding boxes
% im = updateImage(display, im, nearestRect, distance);
% updateLidarBbox(display, lidarBbox)
end
else
% Process lidar data for other objects
[lidarBbox, ~, boxUsed] = bboxCameraToLidar(bboxes, nonGroundPts, intrinsics, ...
camToLidar, 'ClusterThreshold', 2, 'MaxDetectionRange', [1, 10]);
[distance, nearestRect, idx] = helperComputeDistance(bboxes, nonGroundPts, lidarBbox, ...
intrinsics, LidarToCam);
% Print distance information
fprintf('DistOfObj: %.2f meters\n', distance);
% Update image with bounding boxes
% im = updateImage(display, im, nearestRect, distance);
% updateLidarBbox(display, lidarBbox)
end
hold off;
end
  댓글 수: 2
Image Analyst
Image Analyst 2023년 12월 16일
I don't understand the statement. Can you type it into Google translator
in your native language and then paste the translation here.
I don't even see a question. There is no sentence that ends with a question mark.
Ali sameh
Ali sameh 2023년 12월 17일
Look my camera and lidar isn't synchronised. There is a lidar delay of 5 seconds from the camera my question is how can I synchronise lidar and camera together?

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답변 (1개)

Sanjana
Sanjana 2025년 1월 21일
Hi,
To Synchronize Camera Sensor Data and Lidar Sensor Data, you can use the synchronize function of scenariobuilder sensorData objects.
Kindly, refer to the following code to synchronize LidarData with CameraData,
% Step - 1: Create a scenariobuilder.LidarData object
% timestamps - timestamps of lidarData
% pointClouds - Lidar point cloud data
lidarData = scenariobuilder.LidarData(timestamps,pointClouds)
% Step - 2: Create a scenariobuilder.CameraData object
% timestamps - timestamps of cameraData
% frames - frames of images of cameraData
cameraData = scenariobuilder.CameraData(frames,timestamps);
% Step - 3: Synchronize LidarData with CameraData as reference using the synchronize
% function of LidarData
synchronizedLidarData = synchronize(lidarData,cameraData);
Refer to the following documentation for more information,
Hope this helps!

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