GitHub - Xamla/torch-pcl: Point Cloud Library (PCL) bindings for Torch (original) (raw)

torch-pcl

Point Cloud Library (PCL) bindings for Torch

WARNING: Work in progress! Expected v1 release date: 2015-12-20 If you want to help please contact @andreaskoepf.

Install

Prerequisites:

1. Torch7
2. PCL

Install using LuaRocks:

Some Examples

Load a PCD file and acess values as torch tensor.

local pcl = require 'pcl' cloud = pcl.PointCloud(pcl.PointXYZ) cloud:loadPCDFile('data/bunny.pcd') pt = cloud:points() -- get tensor view to points print(pt)

Visualize live RGB-D sensor data

Capture cloud point with OpenNI2 device and show result live in a cloud viewer window.

local pcl = require 'pcl' local s = pcl.OpenNI2Stream(pcl.PointXYZRGBA) local v = pcl.CloudViewer() s:start() for i=1,1000 do local c = s:read(1000) if c ~= nil then v:showCloud(c) end end s:stop()