======== Run Instructions =========

1. Open a Terminal at the project directory, run:
	$ python3 CoordTransform.py

	This python script will read original point cloud data, 
	do coordinate transformation (LLA -> ECEF -> ENU -> Camera), 
	and generate a "point_cloud_camera_coord.csv" file, 
	which has 4 columns (X-coord, Y-coord, Z-coord, Intensity) for each data item.

2. Build the project "cloud_viewer" with the CMakeLists.txt

3. Run the project solution



Note:
1. Make sure the "final_project_point_cloud.fuse" is in the directory ./final_project_data/
2. Make sure the "point_cloud_camera_coord.csv" is under the correct directory
3. If you already have "point_cloud_camera_coord.pcd" file, you can commemt the line 335 to line 339


========= Required Environment ========
Python 3.6
C++
	PCL 1.8.1 for C++
	opencv for C++

Note:

1. It is recommended that you use cmake to build the project
2. We only test the project under windows system



======== Project Files =========
CoordTransform.py
point_cloud_camera_coord.csv
cloud_viewer.cpp
CMakeLists.txt



========== Reference =========
1. http://www.jeffdelmerico.com/wp-content/uploads/2014/03/pcl_tutorial.pdf

2. http://pointclouds.org/