danielTobon43 / pointcloudToPCD

C++ application to convert ply file, txt file or xyz file point cloud to PCD file

pointcloudToPCD

C++ application to convert ply file, txt file or xyz pointcloud to .pcd pointcloud

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Input file structure support

• .ply
• .txt
• .xyz

How to compile

1. Download or clone repo: https://github.com/danielTobon43/pointcloudToPCD.git

2. Create a "build" folder the structre project should be something like:

    - build/
    - src/
    - cloud_test/
    - README.md
   

3. Modify the CMakeLists.txt file in /src with your own PCL build dir: e.g. /opt/pcl-1.9.0/build and save it.

4. Compile with cmake
   

at the root folder:

	$ cd build/  
	$ cmake ../src/
	$ make

Test

Go to pointcloudToPCD-master/build/bin folder and:

./pointcloudToPCD <ply file> -o <output dir>
./pointcloudToPCD <txt file> -o <output dir>
./pointcloudToPCD <xyz file> -o <output dir>

e.g.

./pointcloudToPCD /home/xXx/Downloads/cloud.txt -o /home/xXx/Downloads

Note:

The .txt file structure should only numbers: e.g.

0.794 9.978 12.770 247 231 218
0.793 9.979 12.769 234 217 207
0.793 9.979 12.768 238 224 213
0.794 9.979 12.767 239 227 215
0.795 9.978 12.772 230 221 206
0.795 9.978 12.771 243 229 216

Where each column represent: x y z r g b

Optional programs

• pointcloud to txt: https://github.com/danielTobon43/pointcloudToTXT
• pointcloud to mesh: https://github.com/danielTobon43/pointcloudToMesh
• pcl-visualizer: https://github.com/danielTobon43/pcl_visualizer
• unsampling pointcloud: https://github.com/danielTobon43/upsamplingCloudPCL
• DBScan: https://github.com/danielTobon43/DBScan-PCL-Optimized
• Align pointcloud: https://github.com/danielTobon43/align_pointcloud