如何在图像上投影 Velodyne 点云？ （KITTI 数据集）

Question

这是我将 Velodyne 点投影到图像中的代码：

cam       = 2;
frame     = 20;

% compute projection matrix velodyne->image plane
R_cam_to_rect = eye(4);
[P, Tr_velo_to_cam, R] = readCalibration('D:/Shared/training/calib/',frame,cam)
R_cam_to_rect(1:3,1:3) = R;
P_velo_to_img = P*R_cam_to_rect*Tr_velo_to_cam;


% load and display image
img = imread(sprintf('D:/Shared/training/image_2/%06d.png',frame));
fig = figure('Position',[20 100 size(img,2) size(img,1)]); axes('Position',[0 0 1 1]);
imshow(img); hold on;

% load velodyne points
fid = fopen(sprintf('D:/Shared/training/velodyne/%06d.bin',frame),'rb');
velo = fread(fid,[4 inf],'single')';
% remove every 5th point for display speed
velo = velo(1:5:end,:); 
fclose(fid);

% remove all points behind image plane (approximation
idx = velo(:,1)<5;
velo(idx,:) = [];

% project to image plane (exclude luminance)
velo_img = project(velo(:,1:3),P_velo_to_img);

% plot points
cols = jet;
for i=1:size(velo_img,1)
col_idx = round(64*5/velo(i,1));
plot(velo_img(i,1),velo_img(i,2),'o','LineWidth',4,'MarkerSize',1,'Color',cols(col_idx,:));

其中 readCalibration 函数定义为

function [P, Tr_velo_to_cam, R_cam_to_rect] = readCalibration(calib_dir,img_idx,cam)

% load 3x4 projection matrix
P = dlmread(sprintf('%s/%06d.txt',calib_dir,img_idx),' ',0,1);

Tr_velo_to_cam = P(6,:);
R_cam_to_rect = P(5,1:9);

P = P(cam+1,:);
P = reshape(P ,[4,3])';
Tr_velo_to_cam = reshape(Tr_velo_to_cam ,[3,4])';
R_cam_to_rect = reshape(R_cam_to_rect ,[3,3])';

end

但结果如下：

我的代码有什么问题？我将“cam”变量从 0 更改为 3，但它们都不起作用。您可以在此链接中找到校准文件的示例： How to understand KITTI camera calibration files

Answer 1

我自己修好了。这里是 readCalibration 函数的修改：

Tr_velo_to_cam = P(6,:);
Tr_velo_to_cam = reshape(Tr_velo_to_cam ,[4,3])';
Tr_velo_to_cam = [Tr_velo_to_cam;0 0 0 1];