PCD v1.0

PCD v1.0 Release

📦 Included Files:

• PCD.exe - Main application executable
• sample_pcd_files.zip - Example point clouds for offline testing (via offline mode)

📋 Library Dependencies:

• Required:
  • PCL Library (Currently tested on v1.14.1)
  • OpenCV (Currently tested on v4.11.0)
  • Kinect SDK 2.0 (Currently tested on v2.0.1410.19000)
  • Kinect V2 sensor (If intending to run live mode)

Installation instructions for dependancies can be found in: Setup.md

🖥️ Usage

1. Run PCD.exe
2. Select mode:
   • 1 for Live Kinect feed
   • 2 for Offline processing
   • 3 to exit

Live Mode Controls

• Multiple visualization windows will appear automatically
• D key - Toggle debug mode
• S key - Save current frame as PCD file

Offline Mode

• Enter full file path when prompted (or drag-and-drop file into terminal)
• Press Enter to begin processing

Exiting

• Close visualization windows or
• Ctrl+C in terminal or
• Select 3 in main menu

⚠️ Known Issues:

Crashes due to Visualizer Initialization

• May occur during startup due to thread safety limitations in VTK's OpenGL context management
• Root cause: VTK 9.3's default render window implementation isn't thread-safe when multiple PCL visualizers initialize simultaneously
• Workaround: Restart the application

Note: This is a framework-level limitation, not a bug in our code