Create point cloud map from LiDAR point cloud

Hey,

I am trying to create a point cloud to test my algorithms on as proposed in this example: https://web.archive.org/web/20200918102414/https://webcache.googleusercontent.com/search?q=cache%3A4mpKtXGvnHAJ%3Ahttps%3A%2F%2Fwww.mathworks.com%2Fhelp%2Fdriving%2Fexamples%2Fsimulate-lidar-sensor-perception-algorithm.html (odd link due to the example being removed from mathworks)

However I can not get it working and get the following error:

Error using pcregisterndt (line 172)
No valid voxel is found in the fixed point cloud.

Error in helperLidarMapBuilder/updateMap (line 235)
                    tform = pcregisterndt(this.Moving, this.Fixed, ...

Error in OwnSimulationCode (line 52)
    updateMap(mapBuilder,Cloud);

Anybody know how I can get it working? I don't understand the error.

Thanks!

Answer 1

[Superficial]

It's saying that the fixed point cloud is not valid. This could be because this.Fixed is not a properly initiated Point Cloud object.

Without an example, it's hard to be sure but you can try:

Can you visualise the clouds using pcshow?

pcshow(this.Fixed)

Even better, view them both together:

pcshowpair(this.Moving,this.Fixed)

If the two point clouds are in different coordinates then pcregisterndt will have a hard time joining them.