4_2

Introduction to point cloud processing

• Load a lidar point cloud datum from KITTI dataset
• Use basic PCL data structures
• Visualize the point cloud

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How to build & run

Requirement: PCL

Local build

mkdir build && cd build
cmake ..
make -j
./visualization
./visualization /data/sequences/00/velodyne

Docker build

Requires base build

docker build . -t slam:4_2
docker run -it --env DISPLAY=$DISPLAY -v /kitti:/data -v /tmp/.X11-unix/:/tmp/.X11-unix:ro slam:4_2

# Inside docker container
cd fastcampus_slam_codes/4_2
./build/visualization
./build/visualization /data/sequences/00/velodyne

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Output

Two point clouds visualization

KITTI dataset visualization