I can’t synchronize lidar and camera together for fusion
This my code. When I move camera detects that am moving then 5 seconds later I start moving in the lidar.
% lidarFig = subplot(1, 2, 2); % Create subplot for lidar data
countinueStreaming = true;
while countinueStreaming
% Record the current timestamp before capturing the image
% Capture the image from the Jetson camera hardware.
I = snapshot(cam);
% Record the timestamp after capturing the image
% Call to detect method
[bboxes, scores, labels] = detect(detector, I);
personIndices = find(labels == ‘person’);
personBboxes = bboxes(personIndices, :);
% Convert categorical labels to cell array of character vectors
labels = cellstr(labels);
% Annotate detections in the camera image.
img = insertObjectAnnotation(I, ‘rectangle’, bboxes, labels);
% Display camera image
imshow(img);
hold on;
% Read data from Velodyne Lidar
pc = read(lidar);
% Remove ground plane
groundPtsIndex = segmentGroundFromLidarData(pc, ‘ElevationAngleDelta’, 0, …
‘InitialElevationAngle’, 0);
nonGroundPts = select(pc, ~groundPtsIndex);
imPts = projectLidarPointsOnImage(pc, intrinsics, LidarToCam);
scatter(imPts(:, 1), imPts(:, 2), 10, ‘g’, ‘filled’);
% Display lidar data
% pcshow(nonGroundPts.Location, ‘Parent’, lidarFig);
if ~isempty(personIndices)
for i = 1:numel(personIndices)
index = personIndices(i);
personBbox = bboxes(index, :);
% Process lidar data for each detected person
[lidarBbox, ~, boxUsed] = bboxCameraToLidar(personBbox, nonGroundPts, intrinsics, …
camToLidar, ‘ClusterThreshold’, 2, ‘MaxDetectionRange’, [1, 10]);
[distance, nearestRect, idx] = helperComputeDistance(personBbox, nonGroundPts, lidarBbox, …
intrinsics, LidarToCam);
% Print distance information
fprintf(‘DistOfPerson %d: %.2f metersn’, i, distance);
% Update image with bounding boxes
% im = updateImage(display, im, nearestRect, distance);
% updateLidarBbox(display, lidarBbox)
end
else
% Process lidar data for other objects
[lidarBbox, ~, boxUsed] = bboxCameraToLidar(bboxes, nonGroundPts, intrinsics, …
camToLidar, ‘ClusterThreshold’, 2, ‘MaxDetectionRange’, [1, 10]);
[distance, nearestRect, idx] = helperComputeDistance(bboxes, nonGroundPts, lidarBbox, …
intrinsics, LidarToCam);
% Print distance information
fprintf(‘DistOfObj: %.2f metersn’, distance);
% Update image with bounding boxes
% im = updateImage(display, im, nearestRect, distance);
% updateLidarBbox(display, lidarBbox)
end
hold off;
endThis my code. When I move camera detects that am moving then 5 seconds later I start moving in the lidar.
% lidarFig = subplot(1, 2, 2); % Create subplot for lidar data
countinueStreaming = true;
while countinueStreaming
% Record the current timestamp before capturing the image
% Capture the image from the Jetson camera hardware.
I = snapshot(cam);
% Record the timestamp after capturing the image
% Call to detect method
[bboxes, scores, labels] = detect(detector, I);
personIndices = find(labels == ‘person’);
personBboxes = bboxes(personIndices, :);
% Convert categorical labels to cell array of character vectors
labels = cellstr(labels);
% Annotate detections in the camera image.
img = insertObjectAnnotation(I, ‘rectangle’, bboxes, labels);
% Display camera image
imshow(img);
hold on;
% Read data from Velodyne Lidar
pc = read(lidar);
% Remove ground plane
groundPtsIndex = segmentGroundFromLidarData(pc, ‘ElevationAngleDelta’, 0, …
‘InitialElevationAngle’, 0);
nonGroundPts = select(pc, ~groundPtsIndex);
imPts = projectLidarPointsOnImage(pc, intrinsics, LidarToCam);
scatter(imPts(:, 1), imPts(:, 2), 10, ‘g’, ‘filled’);
% Display lidar data
% pcshow(nonGroundPts.Location, ‘Parent’, lidarFig);
if ~isempty(personIndices)
for i = 1:numel(personIndices)
index = personIndices(i);
personBbox = bboxes(index, :);
% Process lidar data for each detected person
[lidarBbox, ~, boxUsed] = bboxCameraToLidar(personBbox, nonGroundPts, intrinsics, …
camToLidar, ‘ClusterThreshold’, 2, ‘MaxDetectionRange’, [1, 10]);
[distance, nearestRect, idx] = helperComputeDistance(personBbox, nonGroundPts, lidarBbox, …
intrinsics, LidarToCam);
% Print distance information
fprintf(‘DistOfPerson %d: %.2f metersn’, i, distance);
% Update image with bounding boxes
% im = updateImage(display, im, nearestRect, distance);
% updateLidarBbox(display, lidarBbox)
end
else
% Process lidar data for other objects
[lidarBbox, ~, boxUsed] = bboxCameraToLidar(bboxes, nonGroundPts, intrinsics, …
camToLidar, ‘ClusterThreshold’, 2, ‘MaxDetectionRange’, [1, 10]);
[distance, nearestRect, idx] = helperComputeDistance(bboxes, nonGroundPts, lidarBbox, …
intrinsics, LidarToCam);
% Print distance information
fprintf(‘DistOfObj: %.2f metersn’, distance);
% Update image with bounding boxes
% im = updateImage(display, im, nearestRect, distance);
% updateLidarBbox(display, lidarBbox)
end
hold off;
end This my code. When I move camera detects that am moving then 5 seconds later I start moving in the lidar.
% lidarFig = subplot(1, 2, 2); % Create subplot for lidar data
countinueStreaming = true;
while countinueStreaming
% Record the current timestamp before capturing the image
% Capture the image from the Jetson camera hardware.
I = snapshot(cam);
% Record the timestamp after capturing the image
% Call to detect method
[bboxes, scores, labels] = detect(detector, I);
personIndices = find(labels == ‘person’);
personBboxes = bboxes(personIndices, :);
% Convert categorical labels to cell array of character vectors
labels = cellstr(labels);
% Annotate detections in the camera image.
img = insertObjectAnnotation(I, ‘rectangle’, bboxes, labels);
% Display camera image
imshow(img);
hold on;
% Read data from Velodyne Lidar
pc = read(lidar);
% Remove ground plane
groundPtsIndex = segmentGroundFromLidarData(pc, ‘ElevationAngleDelta’, 0, …
‘InitialElevationAngle’, 0);
nonGroundPts = select(pc, ~groundPtsIndex);
imPts = projectLidarPointsOnImage(pc, intrinsics, LidarToCam);
scatter(imPts(:, 1), imPts(:, 2), 10, ‘g’, ‘filled’);
% Display lidar data
% pcshow(nonGroundPts.Location, ‘Parent’, lidarFig);
if ~isempty(personIndices)
for i = 1:numel(personIndices)
index = personIndices(i);
personBbox = bboxes(index, :);
% Process lidar data for each detected person
[lidarBbox, ~, boxUsed] = bboxCameraToLidar(personBbox, nonGroundPts, intrinsics, …
camToLidar, ‘ClusterThreshold’, 2, ‘MaxDetectionRange’, [1, 10]);
[distance, nearestRect, idx] = helperComputeDistance(personBbox, nonGroundPts, lidarBbox, …
intrinsics, LidarToCam);
% Print distance information
fprintf(‘DistOfPerson %d: %.2f metersn’, i, distance);
% Update image with bounding boxes
% im = updateImage(display, im, nearestRect, distance);
% updateLidarBbox(display, lidarBbox)
end
else
% Process lidar data for other objects
[lidarBbox, ~, boxUsed] = bboxCameraToLidar(bboxes, nonGroundPts, intrinsics, …
camToLidar, ‘ClusterThreshold’, 2, ‘MaxDetectionRange’, [1, 10]);
[distance, nearestRect, idx] = helperComputeDistance(bboxes, nonGroundPts, lidarBbox, …
intrinsics, LidarToCam);
% Print distance information
fprintf(‘DistOfObj: %.2f metersn’, distance);
% Update image with bounding boxes
% im = updateImage(display, im, nearestRect, distance);
% updateLidarBbox(display, lidarBbox)
end
hold off;
end fusion, lidar, computer vision MATLAB Answers — New Questions
