【辅助驾驶】KITTI激光数据与图像数据的融合MATLAB实现[3]——官方数据融合例程_run_demovelodyne.m

一、实现效果

二、代码

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

三、代码下载

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