MATLAB: Processing of LiDAR point cloud data

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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

Best Answer

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.

https://www.mathworks.com/help/vision/lidar-and-point-cloud-processing.html

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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).

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Best Answer

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

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