从激光雷达数据生成反射率和距离图像

Question

我需要将激光雷达数据（3D 点云）转换为反射率和距离图（图像），以便将它们用作 CNN 的通道。

任何已经使用过激光雷达数据并且可以帮助我的人？

提前致谢。

Answer 1

您所指的数据产品通常称为"grid metrics"。网格指标是在用户定义的网格（例如栅格单元）内计算的 LiDAR 点云高度和强度数据集的描述性统计数据。我同时使用 FUSION (reference p.72), a set of command line tools, and lidr (reference p.29)（R 中的激光雷达处理包）来生成激光雷达网格指标。

这是文档中使用 lidr 包的示例：

LASfile <- system.file("extdata", "Megaplot.laz", package="lidR")
las = readLAS(LASfile)
colors = height.colors(50)
# Canopy surface model with 4 m^2 cells
metrics = grid_metrics(las, max(Z), 2)
plot(metrics, col = colors)
# Mean height with 400-m^2 cells
metrics = grid_metrics(las, mean(Z), 20)
plot(metrics, col = colors)
# Define your own new metrics
myMetrics = function(z, i)
{
metrics = list(
zwimean = sum(z*i)/sum(i), # Mean elevation weighted by intensities
zimean = mean(z*i), # Mean products of z by intensity
zsqmean = sqrt(mean(z^2)) # Quadratic mean
)
return(metrics)
}
metrics = grid_metrics(las, myMetrics(Z, Intensity))
plot(metrics, col = colors)
plot(metrics, "zwimean", col = colors)
plot(metrics, "zimean", col = colors)
plot(metrics, "zsqmean", col = colors)

这是 FUSION 文档中的语法：

GridMetrics [switches] groundfile heightbreak cellsize outputfile datafile1 [datafile2 ...
datafileN]

从激光雷达数据生成反射率和距离图像

Generating reflectance and range images from Lidar Data

image

lidar