LiDAR-3D-Object-detection-on-real-point-cloud-stream: A Makefile repository from saitarak

Lidar sends laser beam and using the time it takes to emit and receive the signal, the distance to an obstacle is measured. In this project Lidar segmentation, clustering, downsampling and filtering are performed on real time point cloud data. The result can be observed in the figure below for real time streaming of point cloud data.

Classroom Workspace

The workspace provided in the SFND classroom comes preinstallated with everything that you need to finish the exercises and projects. Versions used by Udacity for this ND are as follows:

Ubuntu 16.04
PCL - v1.7.2
C++ v11
gcc v5.5

Note The [CMakeLists.txt] file provided in this repo can be used locally if you have the same package versions as mentioned above. If you want to run this project locally (outside the Udacity workspace), please follow the steps under the Local Installation section.

Local Installation

Ubuntu

Clone this github repo:

cd ~
git clone https://github.com/udacity/SFND_Lidar_Obstacle_Detection.git

Edit CMakeLists.txt as follows:

cmake_minimum_required(VERSION 2.8 FATAL_ERROR)

add_definitions(-std=c++14)

set(CXX_FLAGS "-Wall")
set(CMAKE_CXX_FLAGS, "${CXX_FLAGS}")

project(playback)

find_package(PCL 1.11 REQUIRED)

include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
list(REMOVE_ITEM PCL_LIBRARIES "vtkproj4")


add_executable (environment src/environment.cpp src/render/render.cpp src/processPointClouds.cpp)
target_link_libraries (environment ${PCL_LIBRARIES})

Execute the following commands in a terminal
```
sudo apt install libpcl-dev
cd ~/SFND_Lidar_Obstacle_Detection
mkdir build && cd build
cmake ..
make
./environment
```
This should install the latest version of PCL. You should be able to do all the classroom exercises and project with this setup.

Note The library version of PCL being distributed by the apt repository for 18.04 and 20.04 are both older than v1.11. The following links have the information regarding the versions-

Bionic 18.04 Focal 20.04

You can either build PCL from source (for v1.11) or use the older version.

MAC

Install via Homebrew

install homebrew
update homebrew
```
$> brew update
```
add homebrew science tap
```
$> brew tap brewsci/science
```
view pcl install options
```
$> brew options pcl
```
install PCL
```
$> brew install pcl
```

Clone this github repo

cd ~
git clone https://github.com/udacity/SFND_Lidar_Obstacle_Detection.git

Edit the CMakeLists.txt file as shown in Step 2 of Ubuntu installation instructions above.

Execute the following commands in a terminal

cd ~/SFND_Lidar_Obstacle_Detection
mkdir build && cd build
cmake ..
make
./environment

If you get build errors related to Qt5, make sure that the path for Qt5 is correctly set in .bash_profile or .zsh_profile (Refer #45)

WINDOWS

Install via cvpkg

Follow the steps here to install PCL.

Clone this github repo

cd ~
git clone https://github.com/udacity/SFND_Lidar_Obstacle_Detection.git

Edit the CMakeLists.txt file as shown in Step 2 of Ubuntu installation instructions above.

Execute the following commands in Powershell or Terminal

cd ~/SFND_Lidar_Obstacle_Detection
mkdir build && cd build
cmake ..
make
./environment

Build from Source

PCL Source Github

PCL Mac Compilation Docs

saitarak/LiDAR-3D-Object-detection-on-real-point-cloud-stream