Point cloud segmentation with PCL.
- Azure Kinect SDK (k4a and k4arecord). Also you need Depth Engine.
- PCL 1.10.
- Boost lockfree.
- CMake 3.20 or higher.
- Compiler with support C++14.
- Ninja (for Linux)
- Visual Studio 2019 (for Windows)
vcpkg cannot install PCL 1.10 with visualization
See GitHub Action for compilation from source on Linux Ubuntu
cmake --preset linux-ninja -DPCL_DIR:PATH=<path to PCL CMake config>
cmake --build ./build --config Release
Install PCL 1.10 from Releases.
If your version of Visual Studio is other than 16 2019 then change generator key in CMakePresets.json
cmake --preset windows-vc16 -DPCL_DIR:PATH=<path to PCL CMake config>
cmake --build ./build --config Release
Find executable (example on Windows):
.\azure_pcl.exe <path_to_mkv>
See mkv file format.
You can download our example here:
It distributed under CC BY-SA 4.0
Our file contains follow data:
- IR.
- Depth.
- RGB.
- IMU.