支持j将velodynelidar采集的点云数据转化为常用的pcd或ply格式进行处理。.zip

veloReader = velodyneFileReader('wang.pcap', 'HDL32E');%读取pacp格式的点云 % Define X, Y, Z-axes limits, for pcplayer, in meters(m).每次根据点云的坐标范围修改 xlimits = [-83 91]; ylimits = [-100 106]; zlimits = [-3 12]; % Create the point cloud player. player = pcplayer(xlimits, ylimits, zlimits); % Set labels for pcplayer axes. xlabel(player.Axes, 'X (m)'); ylabel(player.Axes, 'Y (m)'); zlabel(player.Axes, 'Z (m)'); % Specify that point cloud reading should start at 0.3 seconds from % the beginning of file. ptCloudObj = readFrame(veloReader); %获取可用的下一帧 view(player, ptCloudObj.Location, ptCloudObj.Intensity); %Pt=pcread('ptCloudObj.Location'); B=single(ptCloudObj.Location); %转换为单精度 C=pointCloud(B); % A=pointCloud(ptCloudObj.Location); % pcwrite(A,'shu.pcd'); %将数据存为pcd格式 %%使用下采样，大矩阵转化为常见的矩阵格式 gridStep = 0.8; %修改0.8，决定下采样的密度，值越小，采样点越多 ptcloudout=pcdownsample(C,'gridAverage',gridStep); pcwrite(ptcloudout,'shu4.pcd');