PCL OpenNI Experimentation

A simple playground for experimenting with the PCL library and OpenNI.

Key Dependencies

• PCL - An uber standalone library for handing 2D/3D image and point cloud processing.
• OpenNI - An interfacing library for streaming point cloud data from physical OpenNI compliant sensors.
• Eigen - A C++ linear algebra template library.

Command Line Arguments

Flag	M/O	Description
-h	O	Help: Lists out the available command line args.
-s	O	Stream data from the first OpenNI compliant sensor found over USB.
-f [file]	O	The path to a PCD file to visualize.
-filter	O	Attempts to filter noise & invalid points from the inputted point cloud file.
-hullCalc	O	(Incomplete) Builds a convex hull from the inputted PCD file and calculated surface area & volume.

Notes:

• Pressing space during a stream will automatically package up the point cloud and output the PCD file into the execution directory.
• The PCL viewer allows you to pan and rotate the point cloud.
• A range image is built and visualized for PCD files inputted into the tool.

Installation

1. Clone the repo and install PCL with it's associated dependencies.
2. Ensure CMake and GNU Make are installed.
3. Execute the following from within the root directory of the repository:

mkdir build     # Create a new build directory
cd build
cmake ..        # Resolve dependencies & generate the Makefile for the project
make
./openni_viewer

References

• PCL Docs
• OpenNI Grabber Framework Primer
• Constructing Hull Polygons
• Point Cloud Background Subtraction
• Constructing Range Images from Point Clouds
• Visualizing Range Images
• OctoMap - 3D Mapping Framework Based on Octrees
• All the Awesome PCL Tutorials