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官方代码:run_demoVelodyne.m
- function run_demoVelodyne (base_dir,calib_dir)
- % KITTI RAW DATA DEVELOPMENT KIT
- %
- % Demonstrates projection of the velodyne points into the image plane
- %
- % Input arguments:
- % base_dir .... absolute path to sequence base directory (ends with _sync)
- % calib_dir ... absolute path to directory that contains calibration files
-
- % clear and close everything
- close all; dbstop error; clc;
- disp('======= KITTI DevKit Demo =======');
-
- % options (modify this to select your sequence)
- if nargin<1
- base_dir = '/mn/karlsruhe_dataset/2011_09_26/2011_09_26_drive_0009_sync';
- end
- if nargin<2
- calib_dir = '/mnt/karlsruhe_dataset/2011_09_26';
- end
- cam = 2; % 0-based index
- frame = 0; % 0-based index
-
- % load calibration
- calib = loadCalibrationCamToCam(fullfile(calib_dir,'calib_cam_to_cam.txt'));
- Tr_velo_to_cam = loadCalibrationRigid(fullfile(calib_dir,'calib_velo_to_cam.txt'));
-
- % compute projection matrix velodyne->image plane
- R_cam_to_rect = eye(4);
- R_cam_to_rect(1:3,1:3) = calib.R_rect{1};
- P_velo_to_img = calib.P_rect{cam+1}*R_cam_to_rect*Tr_velo_to_cam;
-
- % load and display image
- img = imread(sprintf('%s/image_%02d/data/%010d.png',base_dir,cam,frame));
- fig = figure('Position',[20 100 size(img,2) size(img,1)]); axes('Position',[0 0 1 1]);
- imshow(img); hold on;
-
- % load velodyne points
- fid = fopen(sprintf('%s/velodyne_points/data/%010d.bin',base_dir,frame),'rb');
- velo = fread(fid,[4 inf],'single')';
- velo = velo(1:5:end,:); % remove every 5th point for display speed
- fclose(fid);
- % remove all points behind image plane (approximation
- idx = velo(:,1)<5;
- velo(idx,:) = [];
- % project to image plane (exclude luminance)
- velo_img = project(velo(:,1:3),P_velo_to_img);
- % plot points
- cols = jet;
- for i=1:size(velo_img,1)
- col_idx = round(64*5/velo(i,1));
- plot(velo_img(i,1),velo_img(i,2),'o','LineWidth',4,'MarkerSize',1,'Color',cols(col_idx,:));
- end
官方代码下载:Download the raw data development kit (1 MB)
参考:
《[机器学习]KITTI的雷达+摄像头数据融合》——对KITTI数据集和实现有说明
《激光相机数据融合(4)--KITTI数据集中matlab接口说明及扩展》——对MATLAB程序有较为详细的说明
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