自动驾驶定位毫米波雷达代码

function [pts_img, input_file_name] = load_data() input_file_name = { '1_az0_el0_20210805160431_1', ... '2_az0_el1_20210805155600_62', ... '3_az0_el2_20210805155534_219', ... '4_az0_el3_20210805155509_40', ... '5_az0_el4_20210805155422_75', ... '6_az0_el5_20210805155356_235', ... '7_az1_el0_20210805155721_25', ... '8_az2_el0_20210805155744_170', ... '9_az-1_el0_20210805155845_205', ... '10_az-2_el0_20210805155912_16', ... }; % 1_az0_el0_20210805160431_1.jpg pts_img{1} = [ ... [534; 742], ... % line 1 [621; 655], ... [719; 560], ... [758; 525], ... [809; 474], ... [827; 460], ... [859; 429], ... [874; 413] ... [732; 744], ... % line 2 [790; 656], ... [848; 564], ... [876; 522], ... [905; 476], ... [919; 456], ... [940; 427], ... [950; 412], ... [944; 740], ... % line 3 [966; 649], ... [988; 562], ... [996; 519], ... [1009; 473], ... [1012; 454], ... [1020; 425], ... [1022; 412], ... [1469; 670], ... % line 4 [1399; 594], ... [1343; 531], ... [1311; 498], ... [1276; 461], ... [1257; 438], ... [1636; 672], ... % line 5 [1540; 596], ... [1459; 535], ... [1415; 500], ... [1366; 461], ... [1341; 443], ... [1783; 667], ... % line 6 [1669; 595], ... [1571; 535], ... [1516; 501], ... [1454; 465], ... [1422; 444] ... ]; % 2_az0_el1_20210805155600_62 pts_img{2} = [ ... [527; 694], ... % line 1 [616; 608], ... [712; 513], ... [751; 476], ... [804; 425], ... [821; 408], ... [853; 380], ... [867; 365] ... [727; 693], ... % line 2 [783; 607], ... [843; 516], ... [871; 473], ... [901; 427], ... [914; 407], ... [934; 376], ... [941; 363], ... [937; 692], ... % line 3 [959; 601], ... [982; 511], ... [990; 471], ... [1002; 424], ... [1006; 405], ... [1014; 375], ... [1016; 363], ... [1464; 622], ... % line 4 [1393; 544], ... [1336; 484], ... [1303; 447], ... [1270; 412], ... [1254; 396], ... [1632; 627], ... % line 5 [1533; 547], ... [1455; 487], ... [1409; 451], ... [1361; 414], ... [1339; 397], ... [1780; 623], ... % line 6 [1660; 549], ... [1567; 489], ... [1509; 454], ... [1447; 416], ... [1421; 400] ... ]; % 3_az0_el2_20210805155534_219 pts_img{3} = [ ... [527; 603], ... % line 1 [616; 515], ... [713; 419], ... [751; 382], ... [801; 335], ... [821; 316], ... [852; 286], ... [867; 272] ... [725; 602], ... % line 2 [784; 513], ... [842; 423], ... [870; 380], ... [900; 335], ... [913; 314], ... [934; 284], ... [941; 274], ... [937; 600], ... % line 3 [962; 506], ... [982; 420], ... [990; 378], ... [1001; 331], ... [1006; 314], ... [1014; 283], ... [1016; 270], ... [1464; 532], ... % line 4 [1394; 455], ... [1338; 392], ... [1303; 355], ... [1270; 320], ... [1253; 303], ... [1631; 537], ... % line 5 [1533; 457], ... [1454; 396], ... [1409; 360], ... [1360; 322], ... [1339; 308], ... [1780; 537], ... % line 6 [1662; 460], ... [1566; 400], ... [1507; 363], ... [1449; 327], ... [1422; 310] ... ]; % 4_az0_el3_20210805155509_40 pts_img{4} = [ ... [526;514], ... % line 1 [616;425], ... [713;331], ... [752;292], ... [802;243], ... [821;226], ... [852;197], ... [867;182] ... [726;511], ... % line 2 [784;422], ... [840;333], ... [870;289], ... [899;244], ... [913;223], ... [932;194], ... [942;180], ... [937;508], ... % line 3 [958;415], ... [981;328], ... [990;285], ... [1002;240], ... [1006;221], ... [1013;192], ... [1015;180], ... [1464;443], ... % line 4 [1392;363], ... [1336;301], ... [1303;266], ... [1269;231], ... [1255;214], ... [1633;451], ... % line 5 [1531;369], ... [1456;308], ... [1409;273], ... [1359;234], ... [1339;217], ... [1778;453], ... % line 6 [1661;374], ... [1566;312], ... [1507;275], ... [1448;239], ... [1420;221] ... ]; % 5_az0_el4_20210805155422_75 pts_img{5} = [ ... [525;422], ... % line 1 [615;322], ... [710;238], ... [752;201], ... [803;151], ... [822;133], ... [853;104], ... [868;91] ... [725;417], ... % line 2 [783;328], ... [841;239], ... [870;196], ... [899;151], ... [913;131], ... [932;102], ... [942;89 ], ... [937;414], ... % line 3 [957;320], ... [980;234], ... [989;193], ... [1000;147], ... [1005;127], ... [1012;100], ... [1015;88], ... [1465;353], ... % line 4 [1391;272], ... [1336;211], ... [1301;174], ... [1269;138], ... [1253;123], ... [1631;362], ... % line 5 [1531;279], ... [1455;218], ... [1408;182], ... [1359;143], ... [1336;125], ... [1779;367], ... % line 6 [1660;286], ... [1567;224], ... [1506;186], ... [1447;149], ... [1422;131] ... ]; % 6_az0_el5_20210805155356_235 pts_img{6} = [ ... [525;336], ... % line 1 [614;247], ... [711;151], ... [752;114], ... [803;64], ... [820;48], ... [853;19], ... [867;6] ... [725;329], ... % line 2 [784;240], ... [841;151], ... [868;110], ... [898;65], ... [913;45], ... [931;15], ... [941;2], ... [937;324], ... % line 3 [957;233], ... [979;146], ... [989;106], ... [999;60], ... [1005;41], ... [1011;14], ... [1015;0], ... [1464;267], ... % line 4 [1391;186], ... [1337;125], ... [1301;90], ... [1269;54], ... [1251;36], ... [1631;279], ... % line 5 [1532;195], ... [1454;133], ... [1408;97], ... [1358;58], ... [1337;42], ... [1778;285], ... % line 6 [1661;204], ... [1566;140], ... [1506;102], ... [1447;65], ... [1420;48] ... ]; % 7_az1_el0_20210805155721_25 pts_img{7} = [ ... [623;739], ... % line 1 [713;654], ... [813;560], ... [852;524], ... [904;474], ... [921;457], ... [954;427], ... [970;413] ... [826;741], ... % line 2 [883;655], ... [947;565], ... [971;521], ... [1001;476], ... [1014;456], ... [1034;426], ... [1044;411], ... [1037;742], ... % line 3 [1060;649], ... [1081;562], ... [1091;518], ... [1103;474], ... [1106;452], ... [1113;425], ... [1116;410], ... [1560;672], ... % line 4 [1490;595], ... [1434;533], ... [1402;498], ... [1369;463], ... [1353;445], ... [1723;676], ... % line 5 [1628;598], ... [1552;538], ... [1507;501], ... [1479;467], ... [1438;446], ... [1869;672], ... % line 6 [1756;598], ... [1661;540], ... [1604;503], ... [1546;467], ... [1519;450] ... ]; % 8_az2_el0_20210805155744_170 pts_img{8} = [ ... [719;738], ... % line 1 [810;652], ... [909;560], ... [949;523], ... [1002;474], ... [1019;457], ... [1052;428], ... [1067;413] ... [920;741], ... % line 2 [980;652], ... [1040;565], ... [1069;521], ... [1098;476], ... [1112;455], ... [1132;427], ... [1140;413], ... [1132;742], ... % line 3 [1156;647], ... [1177;561], ... [1189;520], ... [1200;474], ... [1204;454], ... [1210;427], ... [1214;411], ... [1651;677], ... % line 4 [1582;597], ... [1528;537], ... [1496;501], ... [1464;465], ... [1450;448], ... [1812;680], ... % line 5 [1718;601], ... [1644;542], ... [1599;505], ... [1551;468], ... [1532;451], ... [-1;-1], ... % line 6 [1844;604], ... [1752;544], ... [1695;507], ...