segment point cloud data into clusters | The input point cloud must be organized (M-by-N-by-3)
조회 수: 16 (최근 30일)
이전 댓글 표시
Hello All,
I am trying to segment 3D point cloud into clusters using pcap file. When I give pcdenoised cloud as a Input it throwing "The input point cloud must be organized (M-by-N-by-3)" . How to fix this problem?
veloReader = velodyneFileReader('data.pcap','VLP16');
xlimits = [-35 118];
ylimits = [-55 75];
zlimits = [-10 10];
player = pcplayer(xlimits,ylimits,zlimits);
for i = 1 : 600
ptCloud = veloReader.readFrame(i);
ptCloudIn = removeInvalidPoints(ptCloud);
ptcloudFil = pcdenoise(ptCloudIn);
groundPtsIdx = segmentGroundFromLidarData(ptCloudFil);
ptCloudWithoutGround = select(ptCloudFil,~groundPtsIdx,'OutputSize','full');
distThreshold =500;
[labels,numClusters] = segmentLidarData(ptCloudWithoutGround,distThreshold);
numClusters = numClusters+1;
labels(groundPtsIdx) = numClusters;
labelColorIndex = labels+1;
%colormap([hsv(numClusters);[0 0 0]]);
view(player,ptCloudFil.Location,labelColorIndex);
end
댓글 수: 0
채택된 답변
추가 답변 (0개)
참고 항목
카테고리
Help Center 및 File Exchange에서 Point Cloud Processing에 대해 자세히 알아보기
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!