PCL-Visualization

Visualization of multiple point cloud meshes by using PCL (Point Cloud Library)

Description

This code is loading all the point cloud meshes which are captured with 15 degree differences from center of a room. Applies segmentation to each point cloud to extract the planar surfaces (i.e. floor, ceiling, walls). Then, it finds the boundaries of each cloud objects and creates a fake bounding box for all of them. It is used to visualize the point clouds' boundaries.

Dependencies

• PCL 1.6.0
• Visual Studio 2010

Code Usage

• Add PCL_HOME to environment variables (i.e. D:\Libraries\PCL 1.6.0)
• Modify BASE_PATH to point the point cloud datas (.pcd)
• Modify point cloud counts (START_CNT) and (FINISH_CNT)

Detailed explanation of each step can be found inside code comments.

Result

Scene RGB Photos

Scene Point Cloud

Scene Boundary Box (Output of this software)