Point Cloud Segmentation

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This directory contains source codes for processing point Clouds using

• python with library open3d
• CPP with library PCL

Obtaining the Point Cloud

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We obtain point cloud in a ".pcd" formate and it's source is ROS simulation

• Running the drone simulation

  roslaunch uav_sim 6_Point_cloud_Segmentation.launch
  

• Saving the current view infront of Drone

  rosrun pcl_ros pointcloud_to_pcd input:=/asus_depth_camera/depth/points
  

Processing Point Cloud and Visualizing

For processing we have two option

1. CPP Executable creation
   • Inside of build folder

     cmake ..
     make
     ./<name of executable>
     

   • Visualizing

     pcl_viewer -multiview 2 table_scene_lms400_downsampled.pcd  cloud_cluster0.pcd cloud_cluster1.pcd cloud_cluster2.pcd cloud_cluster3.pcd cloud_cluster4.pcd
     

2. Python

   python3 1_visualize_pc.py