www.gusucode.com > IPCV_Eval_Kit_R2019a_0ce6858工具箱matlab程序源码 > IPCV_Eval_Kit_R2019a_0ce6858/code/demo_files/I4_10_2_segmentGroundPlane.m
%% LiDAR偺揰孮僨乕僞偐傜楬柺専弌 %% Velodyne PCAP僼傽僀儖儕乕僟乕傪掕媊 velodyneFileReaderObj = velodyneFileReader('lidardata_ConstructionRoad.pcap','HDL32E'); %% pcplayer傪掕媊 xlimits = [-40 40]; ylimits = [-15 15]; zlimits = [-3 3]; player = pcplayer(xlimits,ylimits,zlimits); xlabel(player.Axes,'X (m)') ylabel(player.Axes,'Y (m)') zlabel(player.Axes,'Z (m)') %% 僇儔乕儅僢僾傪掕媊 colors = [0 1 0; 1 0 0]; % 椢偲愒 greenIdx = 1; % 椢偺僀儞僨僢僋僗 redIdx = 2; % 愒偺僀儞僨僢僋僗 colormap(player.Axes,colors) title(player.Axes,'Segmented Ground Plane of Lidar Point Cloud'); %% 嵟弶偺200揰孮傪楬柺専弌偟丄寢壥傪昞帵 for i = 1 : 200 % 尰嵼偺揰孮傪撉傒崬傒 ptCloud = velodyneFileReaderObj.readFrame(i); % 儔儀儖峴楍嶌惉 colorLabels = zeros(size(ptCloud.Location,1),size(ptCloud.Location,2)); % 楬柺専弌 groundPtsIdx = segmentGroundFromLidarData(ptCloud); % 楬柺傪椢偺僀儞僨僢僋僗偵偡傞 colorLabels(groundPtsIdx (:)) = greenIdx; % 楬柺埲奜傪愒偺僀儞僨僢僋僗偵偡傞 colorLabels(~groundPtsIdx (:)) = redIdx; % 寢壥偺壜帇壔 view(player,ptCloud.Location,colorLabels) end %% % Copyright 2018 The MathWorks, Inc.