pointcloudToMesh

C++ application to convert a pcd, ply, txt or xyz point cloud data file into a MESH representation (Gp3/poisson). This projects is based in the Point Cloud Library 1.12.1 as backend.

Input file structure support

Format	Description
.pcd	Point Cloud Data file format
.ply	Polygon file format
.txt	Text file format
.xyz	X Y Z Text file format

Output file structure

Mesh Cloud	Description
.ply	Polygon mesh file

Example

Compile

You can either build the project from source or download a docker image.

Compiling from source code

Download source code:

git clone https://github.com/danielTobon43/pointcloudToMesh

Create a "build" folder
Run CMake

cd build/ && cmake ../src && make

Run project

./pointcloudToMESH <input cloud> <surface method estimation> <normal method estimation> <output dir>
    
    surface method estimation:
        1 --> for poisson
        2 --> for gp3
        
    normal method estimation.
        1 --> for normal estimation
        2 --> for mls normal estimation
        
     example:
     ./pointcloudToMESH /home/xXx/PCD-PLY_Files/cloud.txt 2 1 /home/xXx/Desktop

Docker image

Download the docker image

docker pull ghcr.io/danieltobon43/pcdtomesh:latest

Run a docker container

docker run --rm -it \
           --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
           --volume=/tmp/.docker.xauth:/tmp/.docker.xauth:rw \
           --env="XAUTHORITY=/tmp/.docker.xauth" \
           --env="DISPLAY" \
           --name="mesh" \
           --volume=[PATH TO YOUR PCD FOLDER]:/tmp \
           -t ghcr.io/danieltobon43/pcdtomesh:latest /tmp/[YOUR PCD FILENAME] [surface method] [normal method] /tmp

The previous command will run a docker container with the ghcr.io/danieltobon43/pcdtomesh:latest image and will share a .pcd file from the host machine ([PATH TO YOUR PCD FOLDER]) to the tmp folder in the container.

If you get something like this after setting --display flag it might be related to this:

No protocol specified

Try running with the following command belowe or use the provided .sh script:

sudo -sE docker run --rm -it \
           --env="DISPLAY" \
           --volume=/tmp/.X11-unix:/tmp/.X11-unix:rw \
           --volume=/tmp/.docker.xauth:/tmp/.docker.xauth:rw \
           --name="dbscan" \
           --volume=[PATH TO YOUR PCD FOLDER]:/tmp \
           -t ghcr.io/danieltobon43/dbscan-octrees:latest --cloudfile /tmp/[YOUR PCD FILENAME] --display

If this still does not work to display, run: xhost +local:docker and then run the option 1 command.

Note

These parameters can be modify in "create_mesh" method to get better results!

for GP3:

setKSearch(100);                         //It was 20
gp3.setSearchRadius(10);                 //It was 0.025
gp3.setMu(5);                            //It was 2.5
gp3.setMaximumNearestNeighbors(100);     //It was 100
gp3.setMaximumSurfaceAngle(M_PI/4);      //45 degrees   
gp3.setMinimumAngle(M_PI/18);            //10 degrees 
gp3.setMaximumAngle(M_PI/1.5);           //120 degrees     
gp3.setNormalConsistency(false); 

for POISSON:

poisson.setDepth(depth);//7
poisson.setInputCloud(cloud_with_normals);
poisson.setPointWeight(pointWeight);//2
poisson.setDegree(2);
poisson.setSamplesPerNode(samplePNode);//1.5
poisson.setScale(scale);//1.1
poisson.setIsoDivide(isoDivide);//8
poisson.setConfidence(confidence);
poisson.setOutputPolygons(outputPolygons);
poisson.setManifold(manifold);
poisson.setSolverDivide(solverDivide);//8
poisson.reconstruct(triangles);

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