用于激光雷达和立体相机融合的Matlab代码.zip

clear all; close all; clc; % Open the ZED zed = webcam('ZED 2i'); closePreview(zed); % LiDAR Initialization lidar = velodynelidar('VLP16'); %preview(lidar) % Set video resolution zed.Resolution = zed.AvailableResolutions{1}; % Get image size [height, width, channels] = size(snapshot(zed)); % Create Figure and wait for keyboard interrupt to quit f = figure('name','ZED camera','keypressfcn','close','windowstyle','modal'); ok = 1; counter = 1; while ok % Capture the current image img = snapshot(zed); % Split the side by side image image into two images image_left = img(:, 1 : width/2, :); image_right = img(:, width/2 + 1 : width, :); % Start LiDAR Point Cloud acquisition start(lidar); [frame, timestamp] = read(lidar, 1); % Stop LiDAR Point Cloud acquisition stop(lidar); % Save the images and LiDAR data on user prompt X = input("Enter keystroke: ", "s"); if (X == "y") % Saving the Split Stereo Camera Images f_name_l = append("img_left",string(counter),".jpg"); f_name_r = append("img_right",string(counter),".jpg"); imwrite(image_left, f_name_l); imwrite(image_right, f_name_r); % Saving LiDAR data lidar_data_filename = append("lidar_data", string(counter), ".mat"); save(lidar_data_filename, 'frame', 'timestamp'); counter = counter + 1; end if (X == "n") break; end %Display the left and right images subplot(1,2,1); imshow(image_left); title('Image Left'); subplot(1,2,2); imshow(image_right); title('Image Right'); drawnow; % Check for interrupts %ok = ishandle(f); end % Close the camera and LiDAR instances clear zed; clear li %close the camera instance clear cam