Project Overview

This work focuses on 3D visualization of the given point cloud data. The goal of this project is to enable the user to select a desired object from the given point cloud which will be highlighted in the GUI.

The four main parts are :

1. Filtering
2. Segmentation (RANSAC)
3. Clustering (K-means)
4. Visualization (RVIZ)

These codes have been tested on Ubuntu 16.04 and python 3.5.2 and ros - kinetic

Requirements :

1. numpy = '1.15.4'
2. pandas = '0.23.4'
3. scipy = '1.1.0'
4. matplotlib = '3.0.2'
5. open3d = ''0.4.0.0'
6. pcl = '1.7.2'
7. mplot3d

Installation :

1. Create and source a virtual environment for python3

 $ sudo apt install python3-virtualenv
 $ virtualenv -p python3 --no-site-packages <path to env>
 $ source <path>/bin/activate

2. Install the required packages and libraries.

 $ pip install numpy scipy pandas 

 $ sudo apt-get install python3-matplotlib

3. Open3d installation.

 $ pip install open3d-python

4. python-pcl installation.

Instructions for installation