Official Tools of PCL
  • pcl_viewer: a quick way for visualizing PCD (Point Cloud Data) files

  • pcd2ply: converts PCD (Point Cloud Data) files to the PLY format

  • octree_viewer: allows the visualization of octrees

PCl Tools

sudo apt-get install pcl-tools [github]

  • pcd2ply - convert PCD files to PLY files
  • ply2pcd - convert PLY files to PCD files
  • statistical_removal - statistical outliers removal
  • pcd_viewer - PCL PCD viewer with added
  • pcdnormal2ply - convert PCD files with normals to PLY files
  • normal_estimation_omp - estimate normals in a PCD using PCL's OpenMP implementation

How to extract depth information from the 3D point cloud data? : 포인트클라우드에서 depth 계산법


설치 요구 사항

  • PointCloudLibrary 1.6.x 1.7.x 1.8.x 1.9.x
    • ubuntu18에는 기본 PCL 포함 -> apt-get install libpcl-dev만 하면 됨 -> python-pcl설치
    • ROS 설치시 PCL - V1.7 포함
  • NumPy 1.9, 1.10, 1.11, 1.12, 1.13, . . .
  • Cython >=0.25.2

1. 소스 설치

pip3 install cython==0.25.2 && pip3 install numpy
git clone https://github.com/strawlab/python-pcl.git
cd python-pcl
python --version
sudo python3 setup.py build_ext -i
sudo python3 setup.py install

#pip3 install git+https://github.com/strawlab/python-pcl

불필요한 파일 / 정보 삭제

add-apt-repository --remove ppa:v-launchpad-jochen-sprickerhof-de/pcl -y 
sudo rm -rf /var/lib/apt/lists/*

공식 홈페이지, example Qna

2. pip 설치

pip install python-pcl
#pip install python-pcl -vvvv

pip uninstall python-pcl

pip install -U python-pcl

$ pip uninstall python-pcl
$ pip install python-pcl --no-cache-dir
# You need to reinstall python-pcl when you want to upgrade PointCloudLibrary

3. conda 설치

conda config --add channels conda-forge
conda install -c sirokujira python-pcl #v0.3
#conda install -c https://conda.anaconda.org/ccordoba12 python-pcl  #v0.2

ROS 연동

Define your own field in PointCloud 2 of ROS

Try moving kinect v2 with ROS (KINETIC)

Python sensor_msgs.msg.PointCloud2() Examples: 32개 코드 샘플

ROS Customized PointCloud2


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