This repository contains the code examples of my medium tutorial "Point Cloud Processing".
"Point Cloud Processing" tutorial is beginner-friendly in which we will simply introduce the point cloud processing pipeline from data preparation to data segmentation and classification.
In this repository you will find:
-
data folder:
Includes the input files that are used for demonstration. -
output folder:
Includes some saved output data. -
introduction folder:
includes the examples of the first tutorial: Introduction to Point Cloud Processing.- introduction_random_points.py : creates a random point cloud and display it using Matplotlib.
- introduction_sampling.py : samples point cloud from a mesh and display it using Open3D.
- introduction_np_o3d.py : switching between Open3D and NumPy.
- introduction_rgbd.py : computing point clours from RGB-D data using Open3D functions.
-
pointcloudfromdepth folder:
includes the examples of the second tutorial: Point cloud computing from RGB-D images.- pointcloud_from_depth.py : compute point clouds from RGB-D data without using Open3D functions.
- colored_pointcloud_from_depth.py : compute colored point clouds.
-
grounddetection folder:
Includes the examples of the third tutorial: Understand point clouds: a simple ground detection algorithm- computer_vision_coordinate_system.py : Understand the computer vision system coordinate.
- ground_detection.py : A simple ground detection algorithm.
- organized_pointcloud.py : compute organized point cloud.
-
preprocessing folder:
Includes the examples of the 4th tutorial: Point Cloud Filtering in Python.- crop_pointcloud_o3d.py : pass-through filter using Open3D.
- passthrough_filter_np.py : a NumPy implementation of pass-through filter.
- downsampling.py : down-sampling methods.
- point_cloud_filtering.py : outlier removal filters: statistical outlier removal and radius outlier removal demonstration.
-
segmentation folder:
Includes the examples of the 5th tutorial: Point Cloud Segmentation in Python.- clustering.py: point cloud clustering.
- projection_clustering.py: clustering of a projected point cloud.
- Open3D : 0.15.1
- NumPy : 1.21.6