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.

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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

1. Download source code:

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

2. Create a "build" folder
3. Run CMake

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

4. 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

1. Download the docker image

docker pull ghcr.io/danieltobon43/pcdtomesh:latest

2. 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);