jankenshow/pointcloudsequenceviewer

PointCloudSequenceViewer

Viewer for multiple point cloud.

Environment

• macOS > Monterey (ver. 12.5)
• Homebrew installed

Installation

1. Install Qt, Boost, PCL

$ brew install qt@5 boost pcl

2. Build

   2-1. Edit CmakeLists.txt

   Make sure to match your environment such like versions of libraries you installed above instruction.

   2-2. Compile source codes

   $ cd PointCloudSequenceViewer
   $ make
   

Usage

./cloud_viewer --pcd_path [path/to/.pcd_file|directory]

--pcd_path is supposed to be path to .pcd file or directory under which .pcd files exist (directly).

Baisically, manipulation of popuped window follows usage of PCLVisualizer.

We add extra KeyDownEvents below.

• right-allow : switch currently shown point cloud to next one.
• left-allow : switch currently shown point cloud to previous one.
• c : save current camera pose.
• i : save current window screenshot to [current_dir/screenshot_pcl_viewer.png].
• shift + click point : show coord of clicked point.

TODO

• Display general info
  • pcd_file name of currently shown point cloud on top-left of viewer window.
• [] Automatically and intermittently switches the displayed point cloud to next one, which can be configured by args/keydown-on-window.
  • intermittently switching functionality with left/right keydown.
  • [] automatic frame proceeding
• [] mouse callback
  • get coord of licked point.
  • [] display coord of point clicked.
  • [] debug
• [] Keyboard callback
  • save screenshots
    = [] save screenshots to specified directory.
  • [] automatically save screenshots for all frames.
• save/load camera configuration
  • save function
  • save path option
  • load function
  • load option
• [] Function to load multiple array of 3d bboxes/labels, in which an element (list of 3d bboxes/labels) is corresponding to single pcd_file.
  • load single frame annotation file(3d bboxes/labels).
  • options to load annotation files
  • Show these 3d bboxes/labels of currently shown point cloud.
  • show bbox text label.
  • switch annotation to next/back one, when frame changes.
  • [] size, extent clipping for bbox.
  • [] debug
• [] cmake file
  • [] Update cmake so as to be able to build on ubuntu.
  • [] Optimizing build like -O3 option.
• [] migration to Qt