Velodyne 线性激光雷达数据合成
2024-10-19 11:57:00
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
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