point_cloud_modelling

This project contains several Python scripts that extract the most important features of a given point cloud.

PCL Installation

Ubuntu 20.04

pip install cython numpy open3d shapely
sudo apt-get update
sudo apt-get install libpcl-dev
sudo apt-get install python3-pcl pcl-tools

Windows 10

• download and install python 3.6.0 (Windows x86 executable installer)

• download and install pcl 1.8.1 (pcl-1.8.1/PCL-1.8.1-AllInOne-msvc2017-win32.exe)

• add %OPENNI2_REDIST%, %OPENNI2_ROOT%\Tools and %PCL_ROOT%\3rdParty\VTK\bin to PATH environment variable

• add %PCL_ROOT%\lib\pkgconfig to PKG_CONFIG_PATH environment variable

• download gtk (gtk+-bundle_3.6.4-20130513_win32.zip)

• download and install mingw (mingw-developer-tools, mingw32-base, mingw-gcc-g++, msys-base)

• install Microsoft Visual C++ build tools

• (RECOMMENDED) initialize virtual environment

  virtualenv --python=%PYTHON36_ROOT%\python.exe env
  env\Scripts\activate
  

• pip install cython numpy open3d-python shapely
  pip install --upgrade setuptools prompt-toolkit==2.0.1
  

• download python-pcl, unzip into env\Lib\site-packages and position yourself inside that folder

• unzip gtk\bin into pkg-config

• update pcl\pcl_defs.pxd (line 512):

  FROM: cdef extern from "pcl/pcl_base.h" namespace "pcl":
    TO: cdef extern from "pcl/pcl_base.h" namespace "pcl" nogil: 
  

• pip install .