Point Cloud Library (PCL)

T.Sugiura

mingw windows10 setup

PhD-3D-Object-Tracking

//Install dependencies

boost

aptget install libboost-all-dev

eigen3

aptget install libeigen3-dev

flann

 

cuda

Various kinds of command on PCL

1.6.0 – > 1.7.0 change

 sensor_msgs::PointCloud2 -> pcl::PCLPointCloud2

 fromROSMsg -> fromPCLPointCloud2

pcl-master original source code

☆Ubuntu 12.04-13.04 Installation ◎ very easy

sudo add-apt-repository ppa:v-launchpad-jochen-sprickerhof-de/pcl
sudo apt-get update
sudo apt-get install libpcl-all

Win7 Professional ◯

fedora 16 ☓

cent OS 5.8 ☓

PCL website

PCL Development Build on Apple Mac OS X

 

pcl_horz_large_pos

 

 

 

The Point Cloud : 2D/3D image and point cloud processing

consolidate : unified

CMakeLists.txt from official PCL website

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

project(passthrough)

find_package(PCL 1.2 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

add_executable (passthrough passthrough.cpp)
target_link_libraries (passthrough ${PCL_LIBRARIES})

Surface Normals

Estimating Surface Normals in a PointCloud

Keypoints and Feature descriptors PCL Tutorial at ICCV 2011

./test_feature_estimation robot.pcd -n 0.03

TIN

Fast triangulation of unordered point clouds

スクリーンショット 2013-08-06 11.29.45

 Project on XCode

 

  // Get result

  gp3.setInputCloud (cloud_with_normals);

  gp3.setSearchMethod (tree2);

  gp3.reconstruct (triangles);

    pcl::io::saveVTKFile (“mesh.vtk”, triangles);

  // Additional vertex information

  std::vector<int> parts = gp3.getPartIDs();

  std::vector<int> states = gp3.getPointStates();

Format

The PCD (Point Cloud Data) file format ref

sample

スクリーンショット 2013-06-09 11.10.27

 

 

 

 

 

 

Convert

pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGB>)

 

PCL download site

Install

how to install on windows 7 →

Installing on Mac OS X using Homebrew

Sample Programs

Start first

Referred from Point Cloud Library

Writing Point Cloud data to PCD files

スクリーンショット 2013-06-19 11.25.50

need QT in C:¥Qt

C:¥Work¥build¥Debug

-pcd_write.exe

Viewer

pcl_visualizer_demo.exe -n test_pcd.pcd

"-h           this help\n"
"-s           Simple visualisation example\n"
"-r           RGB colour visualisation example\n"
"-c           Custom colour visualisation example\n"
"-n           Normals visualisation example\n"
"-a           Shapes visualisation example\n"
"-v           Viewports example\n"
"-i           Interaction Customization example\n"

 pcd_viewer

無題

CMakeLists.txt 

Tutorials

Library

  • Boost
  • VTK
  • Eigen
  • FLANN
  • qHull
  • OpenNI

Referemced

名古屋CV・PRML勉強会

 Calculate Normal Vector from Point Cloud

  Three-Dimensional Object Recognition and 6 DoF Pose Estimation