C++ application to convert pcd file, ply file, txt file or xyz point cloud to MESH representation (Gp3).
- .pcd
- .ply
- .txt
- .xyz
Mesh cloud:
- .ply
There is a docker image for this project stored in docker hub, here. This image is compiled with pcl-docker-1.9.1, Ubuntu 20.04 and the mesh project (5.85GBaprox.).
To use it you have to install docker-engine in your host machine:
Download the docker image
docker pull danieltobon43/pointcloud-to-mesh:1.0-ubuntu-20-04 Check downloaded image
docker images 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" \ --cap-add sys_ptrace \ -p 127.0.0.1:2222:22 \ --user=pcl \ --volume=[PATH TO YOUR PCD FOLDER]:/home/pcl/project/pcd \ -t danieltobon43/pointcloud-to-mesh:1.0-ubuntu-20-04 pcd/[YOUR PCD FILENAME] [surface method] [normal method] [output dir] The previous command will run a docker container with the danieltobon43/pointcloud-to-mesh:1.0-ubuntu-20-04 image and will share a .pcd file from the host machine ([PATH TO YOUR PCD FOLDER]) to the pcd folder in the container.
More information about this docker image can be found in the docker hub repository.
- Set "YOUR OWN" PCL Build DIR in CMakeList.txt e.g: /opt/pcl-1.8.1/build and save it
- Create a "build" folder
in the main folder:
- cd build - cmake ../src/ - make ./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 You can modify the parameters 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);