https://github.com/codebydant/pcl_visualizer
Visualizer for 3D point cloud using PCL Library 1.9.1
https://github.com/codebydant/pcl_visualizer
c-plus-plus clang-format cmake computer-vision cpp pcd pcl pcl-library pcl-viewer ply point-cloud xyz
Last synced: 7 months ago
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Visualizer for 3D point cloud using PCL Library 1.9.1
- Host: GitHub
- URL: https://github.com/codebydant/pcl_visualizer
- Owner: codebydant
- License: gpl-3.0
- Created: 2018-09-19T16:35:28.000Z (about 7 years ago)
- Default Branch: master
- Last Pushed: 2022-08-16T13:30:48.000Z (about 3 years ago)
- Last Synced: 2024-09-12T01:24:52.216Z (about 1 year ago)
- Topics: c-plus-plus, clang-format, cmake, computer-vision, cpp, pcd, pcl, pcl-library, pcl-viewer, ply, point-cloud, xyz
- Language: CMake
- Homepage: https://raw.githubusercontent.com/danielTobon43/pcl_visualizer/master/example/example.png
- Size: 662 KB
- Stars: 8
- Watchers: 3
- Forks: 4
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# pcl_visualizer
Visualizer for a 3D point cloud using PCL Library 1.8...1.12.1
----------------------
This program display a PCL viewer for input point cloud data
## Input file structure support
| Format | Description |
| ----------- | ----------- |
| .pcd | Point Cloud Data file format |
| .ply | Polygon file format |
| .txt | Text file format |
| .xyz | X Y Z Text file format |
## Example
## Help
```
| Help:
-------
p, P : switch to a point-based representation
w, W : switch to a wireframe-based representation (where available)
s, S : switch to a surface-based representation (where available)
j, J : take a .PNG snapshot of the current window view
c, C : display current camera/window parameters
f, F : fly to point mode
e, E : exit the interactor
q, Q : stop and call VTK's TerminateApp
+/- : increment/decrement overall point size
+/- [+ ALT] : zoom in/out
g, G : display scale grid (on/off)
u, U : display lookup table (on/off)
o, O : switch between perspective/parallel projection (default = perspective)
r, R [+ ALT] : reset camera [to viewpoint = {0, 0, 0} -> center_{x, y, z}]
CTRL + s, S : save camera parameters
CTRL + r, R : restore camera parameters
ALT + s, S : turn stereo mode on/off
ALT + f, F : switch between maximized window mode and original size
l, L : list all available geometric and color handlers for the current actor map
ALT + 0..9 [+ CTRL] : switch between different geometric handlers (where available)
0..9 [+ CTRL] : switch between different color handlers (where available)
SHIFT + left click : select a point (start with -use_point_picking)
x, X : toggle rubber band selection mode for left mouse button
```
## Compilation
You can either compile the source code with CMake or download a pre-compiled docker image.
### Compile from source code
This program depends on PCL, VTK and OpenGL.
1. In the root folder create a build directoy
```
mkdir build
```
2. Create compilation files
```
cd build/ && cmake ../src/
```
3. Compile project
```
make
```
Expected output
## Test
```
./pcl-visualizer
```
Expected output
### Download docker image
This [image](https://hub.docker.com/r/danieltobon43/pcl-visualizer) is based on Linux Alpine 3.15 and has the following packages installed:
- VTK-9.1.0
- PCL-1.12.0
- Eigen-3.7.7
- Flann-1.9.1
- Boost-1.77.0
It's a lightweight [1.27GB] PCL docker image with the visualization module pre-compiled that uses the pcl-visualizer project to display a cloud
**PCL modules:**
```
The following subsystems will be built:
-- common
-- kdtree
-- octree
-- search
-- geometry
-- io
-- visualization
-- The following subsystems will not be built:
-- sample_consensus: Disabled manually.
-- filters: Disabled manually.
-- 2d: Disabled manually.
-- features: Disabled manually.
-- ml: Disabled manually.
-- segmentation: Disabled manually.
-- surface: Disabled manually.
-- registration: Disabled manually.
-- keypoints: Disabled manually.
-- tracking: Disabled manually.
-- recognition: Disabled manually.
-- stereo: Disabled manually.
-- apps: Disabled by default
-- benchmarks: Disabled by default
-- outofcore: Disabled manually.
-- examples: Code examples are disabled by default.
-- people: Disabled manually.
-- simulation: Disabled by default.
-- global_tests: Disabled by default
-- tools: Disabled manually.
-- Configuring done
-- Generating done
```
1. Download image from Docker hub
```
docker pull danieltobon43/pcl-visualizer:1.0-alpine3.15
```
2. Create a `visualizer.sh` file with executable permissions.
3. Copy the next content into the `visualizer.sh` file (remember to update PATH/TO/YOUR/PCD/PLY/FOLDER accordingly):
```
# Allow X server connection
xhost +local:root
docker run -it --rm \
--env="DISPLAY" \
--env="QT_X11_NO_MITSHM=1" \
--name="pcl-container" \
--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
--volume=PATH/TO/YOUR/PCD/PLY/FOLDER:/tmp \
danieltobon43/pcl-visualizer:1.0-alpine3.15 /tmp/$1
# Disallow X server connection
xhost -local:root
```
e.g.
I have a folder called `files` at `/home/user/Downloads/files` with .pcd files. Then, replacing the line:
`--volume=/home/user/Downloads/files:/tmp` and saving the changes will have:
```
# Allow X server connection
xhost +local:root
docker run -it --rm \
--env="DISPLAY" \
--env="QT_X11_NO_MITSHM=1" \
--name="pcl-container" \
--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" \
--volume=/home/user/Downloads/files:/tmp \
danieltobon43/pcl-visualizer:1.0-alpine3.15 /tmp/$1
# Disallow X server connection
xhost -local:root
```
This command will run a docker container called: `"pcl-container"` with the `danieltobon43/pcl-visualizer:1.0-alpine3.15` image.
The environment variables `QT_X11_NO_MITSHM`, `DISPLAY` will activate a tunel for displaying a GUI in docker (More info [here](https://www.mit.edu/~arosinol/2019/08/06/Docker_Display_GUI_with_X_server/)).
The `--volume=/home/user/Downloads/files:/tmp` line will mount the `files` folder from the host machine (my PC) into the location especified in the docker container, e.g `/tmp` folder in this case. This will allow to the project `pcl-visualizer` have access to the `.pcd`/`.ply` files inside the container.
Finally, the last line is the call to the `danieltobon43/pcl-visualizer:1.0-alpine3.15 /tmp/$1` image with a command line parameter given by the `/tmp/$1` file-path.
4. Run a docker container with the following command:
```
./visualizer.sh YOUR-PCD-PLY-FILENAME
```
e.g.
```
./visualizer.sh Tree1.pcd
```
## Contributions
This project is open to any contribution, either a new format parser PR, CI workflow improvement, documentation, etc.