MATLAB: Editing / adding Point Cloud ‘Location’

lidarpointcloudread-only

Hi there!

I am working with LiDAR data gahtered using an Ouster sensor and Matlab's "Computer Vision Toolbox".

I would like to plot a recorded point cloud as a "movie", i.e. showing the different frames one after the other.

Since the "VelodyneReader" does not work for Ouster data, I tried to edit the point cloud manually, i.e. I tried to merge different frames of a point cloud to one single point cloud. Therefore, I tried to access the 'Location' in the Point Cloud using 'ptCloud.Location'. However, the 'Location' is a read-only property.

Does any one know how to change the 'Location' property of a 'pointCloud' from read-only to something that I can edit?

Thanks a lot for your help!

Cheers,

Raffi

Best Answer

I guess it would be better if you can access the Location property and store it in a MATLAB variable, make desired modifications and create a new point-cloud object using the modified points.

Related Solutions

MATLAB: Convert unorganized point cloud (MX3) to organized point cloud (MXNX3)

You do not need to convert a pointCloud to organized form to use the pcfitplane function.

Here is an example:

% Read an unorganized point cloud
ptCloud = pcread('teapot.ply');
% The point cloud is unorganized, since Location property is M-by-3
disp(size(ptCloud.Location))
% Use pcfitplane
maxDistance     = 0.5;
referenceVector = [0 0 1];
model = pcfitplane(ptCloud, maxDistance, referenceVector)
figure
pcshow(ptCloud)
hold on
plot(model)

If you are getting an error, could you please send reproduction steps and the release of MATLAB you are using (use the ver command).

MATLAB: Is the pointsToWorld back-projection inverted

You may need to convert the camera world pose to extrinsics using cameraPoseToExtrinsics:

[worldOri,worldLoc] = estimateWorldCameraPose(worldPoints(:,[1 2]),worldPoints,intrinsics);
[rotationMatrix,translationVector] = cameraPoseToExtrinsics(worldOri,worldLoc);
backProjectPoints = pointsToWorld(intrinsics,rotationMatrix,translationVector,imagePoints);

Best Answer

Related Solutions

MATLAB: Convert unorganized point cloud (MX3) to organized point cloud (MXNX3)

MATLAB: Is the pointsToWorld back-projection inverted

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