I'm looking for the tools to manipulate 3d point cloud data gathered from LiDAR sensor for further processing.
Things that i would like to have in these libraries:
- Live visualization many PCL's, like video with the possibility to draw geometries (I was trying before Open3D for python but i couldn't do live visualization)
-Tools for processing PCL data, extracting features , applying machine learning algorithms
I'm currently working on detection of moving objects with data from 3D LiDAR so I would be thankful for any sugestions and tips from experienced people in this field.
A short video presenting final version of moving object detection project: https://www.youtube.com/watch?v=OPIRaX2oA8E&feature=youtu.be&fbclid=IwAR2BRNShe_idwBodkz2q1UmOQd9rdpkErVbStHo_l5THTk51uYrI9UekHc0
If anyone is looking for library as i mentioned above, i've found Point Cloud Library - PCL ( http://pointclouds.org/documentation/ ). It's mainly for C++. There is also Python version but not complete.
I've encountered a lot of problems while installing this library so you can send me a private message if you will also have trouble with this.
I don't know what LiDAR you are using but I know the Velodyne have the free Veloview viewer that can render their live 3D points stream. Maybe other manufacturer have their own viewers.
For offline processing of LiDAR data in a more GIS way than Computer Vision way, there is the great LasTools library that can be used non-commercially for free. It's not that appropriate for real-time LiDAR used in autonomous driving though...
https://rapidlasso.com/lastools/
You might also have a look at the ROS library which interfaces with a lot of diffrent sensors, including LiDARs. I'm pretty sure they also have some visualization tools available for these sensors.
http://wiki.ros.org/Sensors
Good luck!
A fairly new library for point clouds is Open3D:
http://www.open3d.org/docs/release/introduction.html
I use it mainly for visualization, but it offers tools for normal estimation and also registration.
Works on both linux and windows operating systems and easy to install (on both)
Zachi Shtain Have you ever used this library to view multiple PCD files in sequence ? I mean replacing old point cloud with new one .
Wojciech Ptasinski If by sequence you mean some sort of animation than no, I did loaded multiple files (or geometries, as they are referred to in open3d) into the same scene. If I remember correctly, the documentation suggests that animation is possible
Zachi Shtain Thank you for your suggestion and help. I've already managed to display point cloud time sequence in Open3D.
open3d works well drawing mesh geometries - however, I haven't found out how to add the actual colours of the mesh
Miguel Hernandez-Silveira you can use the colors properties to set the colors of the points in the mesh. I guess that the faces will be interpolated based on that. I only tried it with the pointcloud geometry and it worked well
https://arxiv.org/abs/1901.08396?utm_source=feedburner&utm_medium=feed&utm_campaign=Feed%253A+arxiv%252FQSXk+%2528ExcitingAds%2521+cs+updates+on+arXiv.org%2529
https://towardsdatascience.com/understanding-machine-learning-on-point-clouds-through-pointnet-f8f3f2d53cc3
https://arxiv.org/abs/1901.08396?utm_source=feedburner&utm_medium=feed&utm_campaign=Feed%253A+arxiv%252FQSXk+%2528ExcitingAds%2521+cs+updates+on+arXiv.org%2529
https://www.qwertee.io/blog/deep-learning-with-point-clouds/
https://web.stanford.edu/~rqi/pointnet/docs/cvpr17_pointnet_slides.pdf
Have you tried PCL library?
http://pointclouds.org
https://strawlab.github.io/python-pcl/
Changming Sun Yes, I have done already my project using ROS, RViZ for visualization and also PCL library for data processing but thank you for your recommendation.
https://github.com/rusty1s/pytorch_geometric
pytorch geometric library is very good for point cloud advanced processing, it has a lot of articles implementation on point cloud.
https://www.cloudcompare.org
--> Interesting software with GUI and command line mode for visualizing, analyzing, modifying, ... point clouds
https://pdal.io
--> Powerful library for filtering and converting point clouds, especially for very large files
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