Processing of LiDAR point cloud data

조회 수: 7 (최근 30일)
Abhinand Gonibedu Dathatri
Abhinand Gonibedu Dathatri 2019년 9월 12일
편집: Pavan Kumar B N 2021년 6월 18일
Hello,
I would like to project the selected section of point cloud data to ground OR flat. As we can see its like ramp but i need it flat. May i know to do it without loss of distance or data (not considerable amount). This is from .pcd file and collected using a LiDAR. This is a map of outside environment.
Kindly some suggestions ASAP

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Abhisek Pradhan
Abhisek Pradhan 2019년 9월 18일
Use pcread to read point cloud from PLY or PCD file. And extract the selected portion of data points using findPointsInROI. An the use segmentGroundFromLidarDatato segment ground points from organized lidar data.
Please refer the following link for more information.
  댓글 수: 4
Ahmed Iftekhar
Ahmed Iftekhar 2020년 5월 4일
Hello,
I want to preprocess some lidar data in .pcd format. I tried "segmentGroundFromLidarData" algorithm to segment the groud but this code is written for .pcap format. In pcd fromat it has (m by n matrics size) on the other hand, pcap file has (m by n by 3 matrics) size.
Any thought of how to format pcd file into pcap file? or any other matlab libraries to deal with pcd file?
SIncerely,
Ahmed
Pavan Kumar B N
Pavan Kumar B N 2021년 6월 16일
편집: Pavan Kumar B N 2021년 6월 18일
@Ahmed Iftekhar I hope it helps!
%% for PCAP files
veloReader = velodyneFileReader('file.pcap','VLP16');
ptCloudObj = readFrame(veloReader,44);
%% for PCD Files you use pcread
ptCloudObj = pcread('file.pcd');
ptCloudSegGround = pcdSegmentGround(ptCloudObj);
figure
pcshow(ptFilCloud)
hold on
plot(ptCloudSegGround)
function [model] = pcdSegmentGround(ptCloudSrc)
disp(size(ptCloudSrc.Location))
% Use pcfitplane
maxDistance = 0.2;
referenceVector = [0 0 1];
model = pcfitplane(ptCloudSrc, maxDistance, referenceVector)
end

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