I/O

Read, write, and visualize lidar data

Lidar readers process the raw data generated by lidar sensors. There are a wide variety of lidar sensors available in the industry, which generate lidar data in different formats. Lidar Toolbox™ currently supports reading data in the PLY, Velodyne^®PCAP, PCD, LAS, LAZ, Ibeo, Ouster^®and Hesai^®PCAP sensor formats.

You can also stream data from Velodyne and Ouster sensors. For more information, see

激光雷达的工具箱supports writing to PLY, PCD, LAS and LAZ sensor formats.

Functions

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Read Point Cloud

`lasFileReader`	LAS or LAZ file reader
`velodyneFileReader`	Read point cloud data fromVelodynePCAP file
`ousterFileReader`	Read point cloud data fromOusterPCAP file
`hesaiFileReader`	Read point cloud data fromHesaiPCAP file
`e57FileReader`	Read point cloud data from E57 file
`ibeoLidarReader`	Ibeo data container (IDC) file reader
`pcread`	Read 3-D point cloud from PLY or PCD file

Write Point Cloud

`lasFileWriter`	LAS or LAZ file writer
`pcwrite`	Write 3-D point cloud to PLY or PCD file

Visualize and Store

`pcshow`	Plot 3-D point cloud
`pcshowpair`	Visualize difference between two point clouds
`pcplayer`	Visualize streaming 3-D point cloud data
`pointCloud`	Object for storing 3-D point cloud

年代ensor Model

`rangeSensor`	年代imulate range-bearing sensor readings
`lidarSensor`	年代imulate lidar sensor readings

Blocks

Lidar Sensor

Generate lidar point cloud data for a scene

Topics

Introduction to Lidar Processing
High-level overview of lidar concepts and applications.
Coordinate Systems in Lidar Toolbox
Overview of coordinate systems in Lidar Toolbox.
What are Organized and Unorganized Point Clouds?
Define unorganized and organized point clouds and how to convert the former to latter.

Featured Examples

Read Point Cloud Data from LAZ File

阅读和点云数据可视化from a LAS / LAZ file.

Open Live Script

Read Lidar and Camera Data from Rosbag File

Read and save images and point cloud data from a rosbag file. This example also shows how to prepare the data for lidar camera calibration.

Open Live Script

Read, Process, and Write Lidar Point Cloud Data

Read a point cloud into the workspace, select a desired set of points, and then write the selected points to a point cloud file format.

Open Live Script

Export Point Cloud Segmentations to KML Files

Export segmented point cloud data to a Keyhole Markup Language (KML) file and read and visualize the KML data using different tools.

Open Live Script

Generate Lidar Point Cloud Data for Driving Scenario with Multiple Actors

Generate lidar point cloud data for a driving scene with roads, pedestrians, and vehicles. First create a driving scenario by using the drivingScenario object, and then configure a lidarSensor object to generate point cloud data for the scenario.

Open Live Script