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:

$ luarocks install pcl

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()