Velodyne 线性激光雷达数据合成

坐标系旋转

如果想用字母表示角度，有两个方法：

1.  用三角函数sind(θ4)、cosd(θ4)、tand(θ4)、atand(θ4)进行表示，注意：θ4在输入时是角度，只是没有度数特有的符号(°)而已。

2.  用deg2rad将角度转换为弧度。45度就是45/180*pi，60度就是60/180*pi。pi=3.1415。

clear
m = csvread('zero_1.csv', 2, 0);
n = csvread('one_1.csv', 2, 0);
for i=1:1:3
    m1(:,i)=m(:,i);
    n1(:,i)=n(:,i);
end
k=36/180*pi;
k1=1/180*pi;
trans=[cos(k) sin(k) 0;-sin(k) cos(k) 0;0 0 1];
trans1=[01 0 0;0 cos(k1) sin(k1);0 -sin(k1) cos(k1)];
trans2=[cos(-k) sin(-k) 0;-sin(-k) cos(-k) 0;0 0 1];
tmp=(trans2*trans1*trans*n1')';
tmp=[tmp;m1];
 
scatter3(tmp(:,1),tmp(:,2),tmp(:,3),1)
%scatter3(m(:,1),m(:,2),m(:,3),1)
%scatter3(n(:,1),n(:,2),n(:,3),1)

2019-03-23八向数据合成

clear
a{10} = csvread('0 0.csv', 2, 0);
a{1} = csvread('-1 0.csv', 2, 0);
a{2} = csvread('1 0.csv', 2, 0);
a{3} = csvread('0 -1.csv', 2, 0);
a{4} = csvread('0 1.csv', 2, 0);
a{5} = csvread('-0.7 0.7.csv', 2, 0);
a{6} = csvread('0.7 -0.7.csv', 2, 0);
a{7} = csvread('-0.7 -0.7.csv', 2, 0);
a{8} = csvread('0.7 0.7.csv', 2, 0);
for i=1:1:3
    b{1}(:,i)=a{1}(:,i);
    b{2}(:,i)=a{2}(:,i);
    b{3}(:,i)=a{3}(:,i);
    b{4}(:,i)=a{4}(:,i);
    b{5}(:,i)=a{5}(:,i);
    b{6}(:,i)=a{6}(:,i);
    b{7}(:,i)=a{7}(:,i);
    b{8}(:,i)=a{8}(:,i);
    b{10}(:,i)=a{10}(:,i);
end
 
ans=[trans(b{1},-1,0,0);trans(b{2},1,0,0);trans(b{3},0,1,0);trans(b{4},0,-1,0);trans(b{8},0.7,0.7,0);b{10};];
% trans(b{6},-0.7,0.7,0);
% trans(b{1},-1,0,0);trans(b{2},1,0,0);trans(b{3},0,1,0);trans(b{4},0,-1,0);
scatter3(ans(:,1),ans(:,2),ans(:,3),1)

　　

function x=trans(m,x,y,z)
k=36/180*pi;
trans1=[cos(k) sin(k) 0;-sin(k) cos(k) 0;0 0 1];
trans2=[cos(-k) sin(-k) 0;-sin(-k) cos(-k) 0;0 0 1];
 
x=x/180*pi;
y=y/180*pi;
z=z/180*pi;
transy=[cos(y) 0 -sin(y);0 1 0;sin(y) 0 cos(y)];
transz=[cos(z) sin(z) 0;-sin(z) cos(z) 0;0 0 1];
transx=[1 0 0;0 cos(x) sin(x);0 -sin(x) cos(x)];
x=(trans2*transy*transx*transz*trans1*m')';
% x=(transy*transx*transz*m')';

　　

2019-03-23 着色演示与csv写入

clear
a{10} = csvread('0 0.csv', 2, 0);
a{1} = csvread('-1 0.csv', 2, 0);
a{2} = csvread('1 0.csv', 2, 0);
a{3} = csvread('0 -1.csv', 2, 0);
a{4} = csvread('0 1.csv', 2, 0);
a{5} = csvread('-0.7 0.7.csv', 2, 0);
a{6} = csvread('0.7 -0.7.csv', 2, 0);
a{7} = csvread('-0.7 -0.7.csv', 2, 0);
a{8} = csvread('0.7 0.7.csv', 2, 0);
for i=1:1:3
    b{1}(:,i)=a{1}(:,i);
    b{2}(:,i)=a{2}(:,i);
    b{3}(:,i)=a{3}(:,i);
    b{4}(:,i)=a{4}(:,i);
    b{5}(:,i)=a{5}(:,i);
    b{6}(:,i)=a{6}(:,i);
    b{7}(:,i)=a{7}(:,i);
    b{8}(:,i)=a{8}(:,i);
    b{10}(:,i)=a{10}(:,i);
end
 
b{1}=trans(b{1},-1,0,0);
b{2}=trans(b{2},1,0,0);
b{3}=trans(b{3},0,1,0);
b{4}=trans(b{4},0,-1,0);
b{8}=trans(b{8},0.7,0.7,0);
 
for i=1:1:3
    a{1}(:,i)=b{1}(:,i);
    a{2}(:,i)=b{2}(:,i);
    a{3}(:,i)=b{3}(:,i);
    a{4}(:,i)=b{4}(:,i);
    a{5}(:,i)=b{5}(:,i);
    a{6}(:,i)=b{6}(:,i);
    a{7}(:,i)=b{7}(:,i);
    a{8}(:,i)=b{8}(:,i);
end
 
ans0=[a{1};a{2};a{3};a{4};a{8};a{10};];
% csvwrite('tst.csv',ans0);
 
scatter3(ans0(:,1),ans0(:,2),ans0(:,3),1,ans0(:,4),'.');
%x,y,z,粗细，强度，形状（默认是圈）
caxis([0,100]);
%强度的取值范围
colorbar; %在右侧显示颜色条

2019-03-24 支架构建