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pointcloudToMesh

(★ 186)

C++ application to convert pcd file, ply file, txt file or xyz point cloud to MESH representation (Gp3).

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Download Latest Version (.zip)

- - cd.yml
  - ci.yml
  - lint_and_test.yml
- CMakeGraphVizOptions.cmake
- color.cmake
- functions.cmake
- README.md
- mss1.png
- surface.hpp
- visualizer.hpp
- main.cpp
.clang-format
.gitignore
CMakeLists.txt
Dockerfile
Dockerfile.release.ubuntu
LICENSE
README.md

# Installation Guide

1. Get the code

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

Downloads the entire project code from GitHub to your computer.

cd pointcloudToMesh

Moves into the project folder you just downloaded.

2. Docker

Easy Recommended

Prerequisites

Git Needed to download the project code from GitHub.
Docker Desktop Needed to build and run containers. Install it and keep it running in the background.

docker pull ghcr.io/codebydant/pcdtomesh:latest

Type this command into your terminal and run it.

docker run --rm -it \

Runs the built image as an actual container.

--volume=/tmp/.docker.xauth:/tmp/.docker.xauth:rw \

Type this command into your terminal and run it.

--env="XAUTHORITY=/tmp/.docker.xauth" \

Type this command into your terminal and run it.

sudo -sE docker run --rm -it \

Runs the built image as an actual container.

✅ Run docker compose ps to check the containers are Up. If the README mentions a port, open http://localhost:PORT in your browser.

Pulled directly from this repo's README.

3. CMake

Medium

Prerequisites

Git Needed to download the project code from GitHub.
CMake The tool used to generate build configuration.
C/C++ 컴파일러 Windows needs Visual Studio (Community edition, free), macOS needs Xcode Command Line Tools, Linux needs the gcc/g++ package.

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

Moves into the project folder you just downloaded.

✅ Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).

Pulled directly from this repo's README.

// repository documentation

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# 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
<p align="center">
   <img src="./example/mss1.png" align="center" height="400" width="700"><br>
</p>

## 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/codebydant/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/codebydant/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/codebydant/pcdtomesh:latest /tmp/[YOUR PCD FILENAME] [surface method] [normal method] /tmp
```

The previous command will run a docker container with the `ghcr.io/codebydant/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](https://stackoverflow.com/questions/48833451/no-protocol-specified-when-running-a-sudo-su-app-on-ubuntu-linux):

```bash
No protocol specified
```
Try running with the following command belowe or use the provided `.sh` [script](https://github.com/codebydant/DBScan-PCL-Optimized/blob/master/scripts/run_dbscan.sh):
```
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/codebydant/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);