How to Build

Make sure you have cmake and libpcl installed.

sudo apt install cmake libpcl-dev

Navigate into the root directory and run

cmake -S ./ -B build/

then to build, run

bash build.bash

How to visualize

Note that there is a collection of .pcd files under the directory 'sample_data/'.

Basic

After building, run

build/vis <.pcd file here> basic

To run a basic visualization.

Bins/Segments

build/vis <.pcd file here> bins 1 <number of bins here>

build/vis <.pcd file here> segments <number of segments here> 1

Ground Plane Lines

build/vis <.pcd file here> lines <number of segments here> <number of bins here>

Ground Removal Before and After

build/vis <.pcd file here> beforeafter <number of segments here> <number of bins here>