文件列表:

oopProject (0, 2019-12-20)
oopProject\@ce30Display (0, 2019-12-20)
oopProject\@ce30Display\ce30Display.m (579, 2019-12-20)
oopProject\@ce30Display\ce30_DistantDisplay.m (627, 2019-12-20)
oopProject\@ce30Display\ce30_PointCloudDisplay.m (374, 2019-12-20)
oopProject\@ce30PointCloud (0, 2019-12-20)
oopProject\@ce30PointCloud\ce30PointCloud.m (1094, 2019-12-20)
oopProject\@ce30PointCloud\ce30_DataWrite.m (939, 2019-12-20)
oopProject\@ce30PointCloud\ce30_ExtractAngleDist.m (2138, 2019-12-20)
oopProject\@ce30PointCloud\ce30_Polar2Cart.m (665, 2019-12-20)
oopProject\@ce30PointCloud\ce30_Raw2CartPolar.m (1060, 2019-12-20)
oopProject\@ce30PointCloud\ce30_ReadData.m (861, 2019-12-20)
oopProject\@ce30Sensor (0, 2019-12-20)
oopProject\@ce30Sensor\ce30Sensor.m (1483, 2019-12-20)
oopProject\@ce30Sensor\ce30_ClosePort.m (356, 2019-12-20)
oopProject\@ce30Sensor\ce30_Config.m (541, 2019-12-20)
oopProject\@ce30Sensor\ce30_GetDistant.m (403, 2019-12-20)
oopProject\@ce30Sensor\ce30_OpenPort.m (341, 2019-12-20)
oopProject\@ce30Sensor\ce30_PreAllocatedMemory.m (413, 2019-12-20)
oopProject\@ce30Sensor\ce30_StopDistant.m (427, 2019-12-20)
oopProject\doc (0, 2019-12-20)
oopProject\doc\Snipaste_2019-12-20_14-55-55.png (26397, 2019-12-20)
oopProject\doc\Snipaste_2019-12-20_14-56-35.png (100570, 2019-12-20)
oopProject\doc\Snipaste_2019-12-20_14-57-36.png (84285, 2019-12-20)
oopProject\doc\Snipaste_2019-12-20_14-58-09.png (152245, 2019-12-20)
oopProject\doc\Snipaste_2019-12-20_15-52-55.png (15622, 2019-12-20)
oopProject\main.m (670, 2019-12-20)
popProject (0, 2019-12-20)
popProject\MacroDefine.m (1687, 2019-12-20)
popProject\algorithm_detect_pcsegdist.m (250, 2019-12-20)
popProject\algorithm_downsample.m (201, 2019-12-20)
popProject\angleDist.m (1762, 2019-12-20)
popProject\ce30_udp.m (809, 2019-12-20)
popProject\doc (0, 2019-12-20)
popProject\doc\Snipaste_2019-12-20_15-01-22pop.png (135542, 2019-12-20)
popProject\doc\Snipaste_2019-12-20_15-02-04pop.png (114306, 2019-12-20)
... ...

# lidar_ce30_driver_matlab 这是为面阵激光雷达ce30-d而开发的驱动代码,采用matlab的m语言,可直接显示点云图、深度图,处理速度约30fps。 作者:王宇豪@ifr(博远楼313)    ## 如何开始 - 建议安装matlab2019及以上版本 - 打开工程所在目录并运行 - 工程架构如下图所示,ce30Display目录存放点云显示的相关代码,ce30PointCloud目录存放点云原始数据相关代码,ce30Sensor目录存放通信协议、通信指令等代码。 - 运行main.m ## 关于处理速度和激光雷达 oopProject为面向对象的写法,处理速度略慢,约5fps,适合验证算法; popProject为面向过程的写法,处理速度约30fps,实时性较好; 激光雷达相关参数 参数表 Parameter | 典型值 ---- | ----- 测距方式 Method | 时间飞行法 Time of flight 工作波长 Peak Wavelength | 850nm 探测视场角 FoV | 60*4° 分辨率 Pixel Resolution | 320*20 角分辨率(垂直) Angular Resolution (vertical) | 0.2° 刷新速率 Frame Rate | 30fps 响应时间 Response Time | ≤167ms 距离分辨力 Ranging Resolution | 1cm 探测距离 Detecting Range | 0.4~28m@90%反射率 非模糊量程 Unambiguity Range | 28m 距离重复精度 Repeatability(1σ) | ≤5cm

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