NicolasHHH / pcl-learning

🔥PCL（Point Cloud Library）点云库学习记录

pcl-learning

Environment Setup

system : ubuntu 20.04 arm64 + ros-noetic

sudo apt-get install libpcl-dev pcl-tools

dependencies :

sudo apt-get update  
sudo apt-get install git build-essential linux-libc-dev
sudo apt-get install libusb-1.0-0-dev libusb-dev libudev-dev
sudo apt-get install mpi-default-dev openmpi-bin openmpi-common 
sudo apt-get install libflann1.9 libflann-dev
sudo apt-get install libeigen3-dev
sudo apt-get install libboost-all-dev
sudo apt-get install libvtk7.1p-qt
sudo apt-get install libvtk7.1p 
sudo apt-get install libvtk7-qt-dev
sudo apt-get install libqhull* libgtest-dev
sudo apt-get install freeglut3-dev pkg-config
sudo apt-get install libxmu-dev libxi-dev
sudo apt-get install mono-complete
sudo apt-get install openjdk-8-jdk openjdk-8-jre

Compile

mkdir build
cd build
cmake ..
make

pcl_viewer

Notes : PCL(Point Cloud Library)（2021）

Contents

• 00base

step1

• 01common

step2

• 02kdtree
• 03octree
• 04search
• 05sample consensus
• 06range-images

step3

• 08 io 输入输出
• 09 filters 滤波
• 10 features 特征

step4

• 11 surface表面
• 12 segmentation分割
• 13 recognition识别
• 14 registration配准
• 15 visualization可视化
• 16 keypoints关键点
• 17tracking

实战项目

不理解的地方,欢迎提issue: https://github.com/HuangCongQing/pcl-learning/issues

• 3D-MOT(多目标检测和追踪)
  • https://github.com/HuangCongQing/3D-LIDAR-Multi-Object-Tracking/tree/kitti
• 3D点云目标检测&语义分割-SOTA方法,代码,论文,数据集等
  • https://github.com/HuangCongQing/3D-Point-Clouds

相关链接

• 公众号：点云PCL
• https://github.com/Yochengliu/awesome-point-cloud-analysis
• https://github.com/QingyongHu/SoTA-Point-Cloud
• https://github.com/PointCloudLibrary/pcl
• 参考书籍：点云库PCL学习教程，朱德海，北京航空航天大学出版社

• 视频：bilibili-PCL点云库官网教程