Point Cloud Player

Overview

Point Cloud Player is a Qt-based application for visualizing and publishing binary point cloud data as ROS topics. This player allows users to select datasets, and control the playback of these files with various options like play, pause, and loop.

Features

• Dataset Selection: Choose from multiple datasets (KITTI, NCLT, MulRan).

• File Selection: Select a directory containing point cloud binary files(.bin).

• Playback Control: Start, stop, pause, and loop single frame.

• ROS Integration: Publish point cloud data as ROS topics.

  

  

Dependencies

• Qt: For GUI components.

  sudo apt-get install qt5-default qtcreator
  

• ROS: For publishing point cloud data.

  Follow the instructions on the ROS installation page for your platform.

• PCL: For handling point cloud data.

  sudo apt-get install libpcl-dev
  

Run

Compile Project：

git clone to {project_ws}/src/
catkin_make
source devel/setup.bash
roslaunch point_cloud_player point_cloud_player_node.launch

Using the GUI:

• Select Dataset: Choose the dataset type from the dropdown menu.

• Select Folder: Click the 'File' button to select the folder which contains your point cloud files. folder should like:

  folder
    ├── 000000.bin
    ├── 000001.bin
    ├── 000002.bin
    ├── .....
  

• Run: Click the 'Run' button to start playback.

License

This project is licensed under the MIT License.