Analyze large datasets of point clouds recorded over time in an efficient way
Project description
Analyze large datasets of point clouds recorded over time in an efficient way.
Features
Handles pointclouds over time
Building complex pipelines with a clean and maintainable code
newpointcloud = pointcloud.limit("x",-5,5).filter("quantile","reflectivity", ">",0.5)
Apply arbitrary functions to datasets of pointclouds
def isolate_target(frame: PointCloud) -> PointCloud:
return frame.limit("x",0,1).limit("y",0,1)
def diff_to_pointcloud(pointcloud: PointCloud, to_compare: PointCloud) -> PointCloud:
return pointcloud.diff("pointcloud", to_compare)
result = dataset.apply(isolate_target).apply(diff_to_pointcloud, to_compare=dataset[0])
Support for large files with lazy evaluation and parallel processing
Support for numerical data per point (intensity, range, noise …)
Interactive 3D visualisation
High level processing based on dask, pandas, open3D and pyntcloud
Docker image is available
Optimised - but not limited to - automotive lidar
Directly read ROS bagfiles and many pointcloud file formats
A commandline tool to convert ROS bagfiles
Use case examples
Post processing and analytics of a lidar dataset recorded by ROS
A collection of multiple lidar scans from a terrestrial laser scanner
Comparison of mutliple pointclouds to a ground truth
Analytics of pointclouds over time
Developing algorithms on a single frame and then applying them to huge datasets
Installation with pip
Install python package with pip:
pip install pointcloudset
Installation with Docker
The easiest way to get started is to use the pre-build docker tgoelles/pointcloudset or use tgoelles/pointcloudset_base to get a container with all dependencies and install pointcloudset there.
Quickstart
from pointcloudset import Dataset, PointCloud
from pathlib import Path
dataset = Dataset.from_file(Path("rosbag_file.bag"), topic="/os1_cloud_node/points", keep_zeros=False)
pointcloud = dataset[42]
pointcloud2 = PointCloud.from_file(Path("lasfile.las"))
Read the html documentation.
Have a look at the tuturial notebooks in the documentation folder
For even more usage examples you can have a look at the tests
Citation and contact
Thomas Gölles email: thomas.goelles@v2c2.at
ADD link to JOSS paper here and DOI
Project details
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