Memo: Lib - Points | Processing Point Cloud

(Feature image from: 3D point set processing in python: a quick overview - Medium)

Read-Write

plyfile

(2024-03-27)

Read ply file (Polygon File Format): Docs

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import numpy
from plyfile import PlyData, PlyElement

with open('/home/yi/Downloads/DTU_SampleSet/MVS Data/Points/stl/stl001_total.ply', 'rb') as f:
    plydata = PlyData.read(f)

np.array(plydata.elements[0].data)[0]

Output:

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(49.720848, -54.11675, 672.04956, 0.9649841, -0.08213623, -0.24911714, 102, 70, 44)

The returned tuple is a single data, whose datatype has 9 members. I want to only take the first 3 values: x,y,z. But it’s not allowed to use syntax like [:3] to slice it.

Write a ply file

Example in 3DGS:

Read Numer of Points

Problems:
1. Given a .ply file, obtain the number of pints

Open3D

(2024-03-27)

Compare open3d, plyfile, pyntcloud, and meshio
- open3d: has good docs. How To Read and Write ply File in Python - Jdhao
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  pip install open3d
- plyfile: lightweight. Could be slow when reading a large ply file. Python plyfile vs pymesh - SO

Read

Various file formats

Open3d read .ply file

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import open3d as o3d

pcd = o3d.io.read_point_cloud("/home/yi/Downloads/DTU_SampleSet/MVS Data/Points/stl/stl001_total.ply", format='ply')

::: aside

References:
1. Docs :::

Open3D converts pcd to np.array and visualize it: Docs

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import numpy as np
xyz_load = np.asarray(pcd.points) # (2880879, 3)
print(f'xyz_load:\n {xyz_load}')
o3d.visualization.draw_geometries([pcd])

Setting camera directions:

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lookat = np.array([[500.],[500.], [500.]])
up = np.array([[0.853452],[-0.447425], [0.267266]])
front = np.array([[0.417749],[0.893913],[0.162499]])
o3d.visualization.draw_geometries([pcd], width=500, height=500, lookat=lookat, up=up, front=front, zoom=1.0)

open3d.visualization.draw_geometries
lookat is the window center. set_lookat(), set_front(), set_up() usage of VisualControl #2139

Visualize

Open3D visualizes a point cloud from a specified camera pose:

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vis = o3d.visualization.VisualizerWithKeyCallback()

vis.create_window()
vis.add_geometry(pcd)
vis.get_render_option().background_color = np.asarray([1,1,1])

view_ctl = vis.get_view_control()
w2c = np.array([[-0.636298, -0.727666, 0.25618,  -143.534],
                [0.0315712,  0.307237, 0.951109, -579.42],
                [-0.770797,  0.613276, -0.172521, 759.831],
                [ 0.0,       0.0,      0.0,       1.0]]) # cam 38
cam = view_ctl.convert_to_pinhole_camera_parameters()
cam.extrinsic = w2c
view_ctl.convert_from_pinhole_camera_parameters(cam, True)

vis.run()
vis.destroy_window()

Note: crete_window() must precedes add_geometry()

Options for rendering

(2024-07-08)
1. Set zoom of the visualizer. ^r1-Docs
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  view_ctl.set_zoom(0.14)
2. Set window size ^r2:
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  vis = o3d.visualization.VisualizerWithKeyCallback() vis.create_window(width=800, height=800)
3. Capture the current window:
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  # vis.run() vis.capture_screen_image("PC01_upPC_240709.png", do_render=True) vis.destroy_window()
::: aside
- References: {{{
  1. Docs (Found in DDG:open3D set camera distance No luck. ➔ DDG: set fov ➔ Tutorial ➔ DDG: set zoom)
  2. Found in DDG
  }}} :::

Shortcuts

Open3D Shortcut keys^r1-Docs

(2024-07-10)

Press H will show help message in terminal or output cell.

::: aside

References:
1. Visualization — Open3D 0.9.0 documentation Search by “open3d visualizer keyboard behaviors collection” at DDG :::

Help info (0.18)

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-- Mouse view control --
  Left button + drag         : Rotate.
  Ctrl + left button + drag  : Translate.
  Wheel button + drag        : Translate.
  Shift + left button + drag : Roll.
  Wheel                      : Zoom in/out.

-- Keyboard view control --
  [/]          : Increase/decrease field of view.
  R            : Reset view point.
  Ctrl/Cmd + C : Copy current view status into the clipboard.
  Ctrl/Cmd + V : Paste view status from clipboard.

-- General control --
  Q, Esc       : Exit window.
  H            : Print help message.
  P, PrtScn    : Take a screen capture.
  D            : Take a depth capture.
  O            : Take a capture of current rendering settings.
  Alt + Enter  : Toggle between full screen and windowed mode.

-- Render mode control --
  L            : Turn on/off lighting.
  +/-          : Increase/decrease point size.
  Ctrl + +/-   : Increase/decrease width of geometry::LineSet.
  N            : Turn on/off point cloud normal rendering.
  S            : Toggle between mesh flat shading and smooth shading.
  W            : Turn on/off mesh wireframe.
  B            : Turn on/off back face rendering.
  I            : Turn on/off image zoom in interpolation.
  T            : Toggle among image render:
                 no stretch / keep ratio / freely stretch.

-- Color control --
  0..4,9       : Set point cloud color option.
                 0 - Default behavior, render point color.
                 1 - Render point color.
                 2 - x coordinate as color.
                 3 - y coordinate as color.
                 4 - z coordinate as color.
                 9 - normal as color.
  Ctrl + 0..4,9: Set mesh color option.
                 0 - Default behavior, render uniform gray color.
                 1 - Render point color.
                 2 - x coordinate as color.
                 3 - y coordinate as color.
                 4 - z coordinate as color.
                 9 - normal as color.
  Shift + 0..4 : Color map options.
                 0 - Gray scale color.
                 1 - JET color map.
                 2 - SUMMER color map.
                 3 - WINTER color map.
                 4 - HOT color map.

Other Libs

pyminiply claims that it’s faster than open3d.
ply-parser

(2024-05-10)

zishun/awesome-geometry-processing

(Found by Perplexity: “Compare 3 libraries: CGAL (Computational Geometry Algorithms Library), Open3D, and PointCloudLibrary (PCL)”)

Wis3D

(2024-04-07)

zju3dv/Wis3D

PCL

PCL Tutorial(2014) Jeff Delmerico
- He have projects on volumetric reconstruction
Jeff’s repo: jeffdelmerico/pointcloud_tutorial

Compile on Ubu 22.04 ✅

(2024-05-11)

Reference: Docs

System specs:

Ubuntu 22.04.4 LTS x86_64, Kernel: 6.5.0-28-generic,
gcc (Ubuntu 9.5.0-1ubuntu1~22.04) 9.5.0
Cudatoolkit: cuda_11.6.r11.6/compiler.30794723_0
Nvidia Driver: 545.23.08
GPU: 3090Ti
CPU: AMD Ryzen 7 5700X (16) @ 3.400GHz
Board: X570 AORUS PRO WIFI -CF. Memory: 16GB.

Steps:

Download source.tar.gz (pcl-1.14.1)

Uncompress: tar xvf source.tar.gz

Build:

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cd pcl
cmake -B ./build -DCMAKE_BUILD_TYPE=RelWithDebInfo

Compile and install:

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cd ./build
make -j8
sudo make -j8 install

The library is installed in /usr/lib and /usr/include/

Install paths

{{{

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-- Installing: /usr/local/lib/libpcl_kdtree.so.1.14.1
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-- Installing: /usr/local/lib/libpcl_stereo.so
-- Installing: /usr/local/lib/pkgconfig/pcl_stereo.pc
-- Installing: /usr/local/include/pcl-1.14/pcl/stereo/stereo_grabber.h
-- Installing: /usr/local/include/pcl-1.14/pcl/stereo/stereo_matching.h
...
-- Installing: /usr/local/bin/pcl_pcd_convert_NaN_nan
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_pcd_convert_NaN_nan" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_pcd2ply
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_pcd2ply" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_ply2pcd
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_ply2pcd" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_xyz2pcd
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_xyz2pcd" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_pclzf2pcd
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_pclzf2pcd" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_pcd2vtk
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_pcd2vtk" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_add_gaussian_noise
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_add_gaussian_noise" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_pcd_change_viewpoint
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_pcd_change_viewpoint" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_concatenate_points_pcd
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_concatenate_points_pcd" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_demean_cloud
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_demean_cloud" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_generate
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_generate" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_convert_pcd_ascii_binary
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_convert_pcd_ascii_binary" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_pcd_introduce_nan
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_pcd_introduce_nan" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_hdl_grabber
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_hdl_grabber" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_ply2obj
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_ply2obj" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_ply2ply
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_ply2ply" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_ply2raw
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_ply2raw" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_plyheader
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_plyheader" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_plane_projection
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_plane_projection" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_compute_hausdorff
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_compute_hausdorff" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_compute_cloud_error
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_compute_cloud_error" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_voxel_grid
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_voxel_grid" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_passthrough_filter
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_passthrough_filter" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_radius_filter
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_radius_filter" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_outlier_removal
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_outlier_removal" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_fast_bilateral_filter
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_fast_bilateral_filter" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_morph
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_morph" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_local_max
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_local_max" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_grid_min
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_grid_min" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_cluster_extraction
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_cluster_extraction" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_progressive_morphological_filter
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_progressive_morphological_filter" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_mls_smoothing
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_mls_smoothing" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_uniform_sampling
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_uniform_sampling" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_sac_segmentation_plane
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_sac_segmentation_plane" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_train_unary_classifier
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_train_unary_classifier" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_unary_classifier_segment
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_unary_classifier_segment" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_crf_segmentation
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_crf_segmentation" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_train_linemod_template
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_train_linemod_template" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_normal_estimation
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_normal_estimation" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_boundary_estimation
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_boundary_estimation" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_fpfh_estimation
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_fpfh_estimation" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_vfh_estimation
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_vfh_estimation" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_spin_estimation
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_spin_estimation" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_extract_feature
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_extract_feature" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_marching_cubes_reconstruction
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_marching_cubes_reconstruction" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_gp3_surface
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_gp3_surface" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_poisson_reconstruction
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_poisson_reconstruction" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_icp
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_icp" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_icp2d
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_icp2d" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_elch
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_elch" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_lum
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_lum" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_ndt2d
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_ndt2d" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_ndt3d
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_ndt3d" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_transform_point_cloud
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_transform_point_cloud" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_transform_from_viewpoint
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_transform_from_viewpoint" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_match_linemod_template
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_match_linemod_template" to "/usr/local/lib"
-- Installing: /usr/local/bin/pcl_linemod_detection
-- Set non-toolchain portion of runtime path of "/usr/local/bin/pcl_linemod_detection" to "/usr/local/lib"

}}}

(2024-06-25)

I can’t cmake the project: dtcMLOps/upsamplingCloudPCL, with errors shown below.

Error:

{{{

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(base) zichen@homepc:~/Downloads/upsamplingCloudPCL$ cmake -Bbuild
 
=========================================
Project: upsampling_cloud 
=========================================
CMake Warning (dev) at /usr/local/share/pcl-1.14/Modules/FindFLANN.cmake:45 (find_package):
  Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT
  variables.  Run "cmake --help-policy CMP0144" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.
 
  CMake variable FLANN_ROOT is set to:
 
    /usr
 
  For compatibility, find_package is ignoring the variable, but code in a
  .cmake module might still use it.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.14/PCLConfig.cmake:250 (find_package)
  /usr/local/share/pcl-1.14/PCLConfig.cmake:295 (find_flann)
  /usr/local/share/pcl-1.14/PCLConfig.cmake:551 (find_external_library)
  CMakeLists.txt:29 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.
 
-- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so)
-- Could NOT find Pcap (missing: PCAP_LIBRARIES PCAP_INCLUDE_DIRS) 
CMake Error at /usr/lib/x86_64-linux-gnu/cmake/vtk-9.1/patches/99/FindHDF5.cmake:241 (try_compile):
  Unknown extension ".c" for file
 
    /home/zichen/Downloads/upsamplingCloudPCL/build/CMakeFiles/hdf5/cmake_hdf5_test.c
 
  try_compile() works only for enabled languages.  Currently these are:
 
    CXX
 
  See project() command to enable other languages.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/vtk-9.1/patches/99/FindHDF5.cmake:596 (_HDF5_test_regular_compiler_C)
  /usr/lib/x86_64-linux-gnu/cmake/vtk-9.1/VTK-vtk-module-find-packages.cmake:444 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/vtk-9.1/vtk-config.cmake:150 (include)
  /usr/local/share/pcl-1.14/PCLConfig.cmake:264 (find_package)
  /usr/local/share/pcl-1.14/PCLConfig.cmake:313 (find_VTK)
  /usr/local/share/pcl-1.14/PCLConfig.cmake:548 (find_external_library)
  CMakeLists.txt:29 (find_package)
 
 
CMake Error at /usr/local/share/pcl-1.14/PCLConfig.cmake:335 (string):
  string sub-command REGEX, mode REPLACE needs at least 6 arguments total to
  command.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.14/PCLConfig.cmake:548 (find_external_library)
  CMakeLists.txt:29 (find_package)
 
 
-- Checking for module 'libusb-1.0'
--   No package 'libusb-1.0' found
-- Could NOT find libusb (missing: libusb_LIBRARIES libusb_INCLUDE_DIR) 
-- Found Qhull version 8.0.2
 
 
CMake Error at /usr/lib/x86_64-linux-gnu/cmake/vtk-9.1/patches/99/FindHDF5.cmake:241 (try_compile):
  Unknown extension ".c" for file
 
    /home/zichen/Downloads/upsamplingCloudPCL/build/CMakeFiles/hdf5/cmake_hdf5_test.c
 
  try_compile() works only for enabled languages.  Currently these are:
 
    CXX
 
  See project() command to enable other languages.
Call Stack (most recent call first):
  /usr/lib/x86_64-linux-gnu/cmake/vtk-9.1/patches/99/FindHDF5.cmake:596 (_HDF5_test_regular_compiler_C)
  /usr/lib/x86_64-linux-gnu/cmake/vtk-9.1/VTK-vtk-module-find-packages.cmake:444 (find_package)
  /usr/lib/x86_64-linux-gnu/cmake/vtk-9.1/vtk-config.cmake:150 (include)
  /usr/local/share/pcl-1.14/PCLConfig.cmake:264 (find_package)
  /usr/local/share/pcl-1.14/PCLConfig.cmake:313 (find_VTK)
  /usr/local/share/pcl-1.14/PCLConfig.cmake:548 (find_external_library)
  CMakeLists.txt:29 (find_package)
 
 
CMake Error at /usr/local/share/pcl-1.14/PCLConfig.cmake:335 (string):
  string sub-command REGEX, mode REPLACE needs at least 6 arguments total to
  command.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.14/PCLConfig.cmake:548 (find_external_library)
  CMakeLists.txt:29 (find_package)
 
 
-- PCL status:
--     version: 1.14.1
--     directory: /usr/local/share/pcl-1.14
CMake Warning (dev) at /usr/local/share/cmake-3.28/Modules/FetchContent.cmake:1331 (message):
  The DOWNLOAD_EXTRACT_TIMESTAMP option was not given and policy CMP0135 is
  not set.  The policy's OLD behavior will be used.  When using a URL
  download, the timestamps of extracted files should preferably be that of
  the time of extraction, otherwise code that depends on the extracted
  contents might not be rebuilt if the URL changes.  The OLD behavior
  preserves the timestamps from the archive instead, but this is usually not
  what you want.  Update your project to the NEW behavior or specify the
  DOWNLOAD_EXTRACT_TIMESTAMP option with a value of true to avoid this
  robustness issue.
Call Stack (most recent call first):
  cmake/functions.cmake:5 (FetchContent_Declare)
  CMakeLists.txt:39 (fetch_project)
This warning is for project developers.  Use -Wno-dev to suppress it.
 
CMake Warning (dev) at build/_deps/cloudparse-src/CMakeLists.txt:18 (find_package):
  Policy CMP0074 is not set: find_package uses <PackageName>_ROOT variables.
  Run "cmake --help-policy CMP0074" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.
 
  CMake variable PCL_ROOT is set to:
 
    /usr/local
 
  For compatibility, CMake is ignoring the variable.
This warning is for project developers.  Use -Wno-dev to suppress it.
 
-- PCL status:
--     version: 1.14.1
--     directory: /usr/local/share/pcl-1.14
CMake Warning (dev) at /usr/local/share/cmake-3.28/Modules/FetchContent.cmake:1331 (message):
  The DOWNLOAD_EXTRACT_TIMESTAMP option was not given and policy CMP0135 is
  not set.  The policy's OLD behavior will be used.  When using a URL
  download, the timestamps of extracted files should preferably be that of
  the time of extraction, otherwise code that depends on the extracted
  contents might not be rebuilt if the URL changes.  The OLD behavior
  preserves the timestamps from the archive instead, but this is usually not
  what you want.  Update your project to the NEW behavior or specify the
  DOWNLOAD_EXTRACT_TIMESTAMP option with a value of true to avoid this
  robustness issue.
Call Stack (most recent call first):
  cmake/functions.cmake:5 (FetchContent_Declare)
  CMakeLists.txt:44 (fetch_project)
This warning is for project developers.  Use -Wno-dev to suppress it.
 
=========================================
Project: upsampling_cloud COMPILED WITH CMAKE 3.28.0-rc3
=========================================
-- Configuring incomplete, errors occurred!

}}}

Attempts:

I installed libvtk9-dev: sudo aptitude install libvtk9-dev and sudo apt-get install libpcap-dev libusb-1.0-0-dev

Compile again.

And I

Enable C language: Add the following line near the top of your CMakeLists.txt file, right after the project() command: enable_language(C) (Following the instrction of Claude3.5 Sonnet)

Error:

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(base) zichen@homepc:~/Downloads/upsamplingCloudPCL$ cmake -B build
-- The CXX compiler identification is GNU 9.5.0
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- The C compiler identification is GNU 9.5.0
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working C compiler: /usr/bin/cc - skipped
-- Detecting C compile features
-- Detecting C compile features - done

=========================================
Project: upsampling_cloud 
=========================================
CMake Warning (dev) at /usr/local/share/pcl-1.14/Modules/FindFLANN.cmake:45 (find_package):
  Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT
  variables.  Run "cmake --help-policy CMP0144" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  CMake variable FLANN_ROOT is set to:

    /usr

  For compatibility, find_package is ignoring the variable, but code in a
  .cmake module might still use it.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.14/PCLConfig.cmake:250 (find_package)
  /usr/local/share/pcl-1.14/PCLConfig.cmake:295 (find_flann)
  /usr/local/share/pcl-1.14/PCLConfig.cmake:551 (find_external_library)
  CMakeLists.txt:30 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Checking for module 'flann'
--   Found flann, version 1.9.1
-- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so  
-- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so)
-- Found OpenMP_CXX: -fopenmp (found version "4.5") 
-- Found OpenMP: TRUE (found version "4.5") found components: CXX 
-- Found Pcap: /usr/lib/x86_64-linux-gnu/libpcap.so  
-- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found version "1.2.11")  
-- Found PNG: /usr/lib/x86_64-linux-gnu/libpng.so (found version "1.6.37") 
CMake Error at /usr/local/share/pcl-1.14/PCLConfig.cmake:335 (string):
  string sub-command REGEX, mode REPLACE needs at least 6 arguments total to
  command.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.14/PCLConfig.cmake:548 (find_external_library)
  CMakeLists.txt:30 (find_package)


-- Checking for module 'libusb-1.0'
--   Found libusb-1.0, version 1.0.25
-- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so  
-- Found Qhull version 8.0.2
CMake Error at /usr/local/share/pcl-1.14/PCLConfig.cmake:335 (string):
  string sub-command REGEX, mode REPLACE needs at least 6 arguments total to
  command.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.14/PCLConfig.cmake:548 (find_external_library)
  CMakeLists.txt:30 (find_package)


-- Found PCL_COMMON: /usr/local/lib/libpcl_common.so  
-- Found PCL_KDTREE: /usr/local/lib/libpcl_kdtree.so  
-- Found PCL_OCTREE: /usr/local/lib/libpcl_octree.so  
-- Found PCL_SEARCH: /usr/local/lib/libpcl_search.so  
-- Found PCL_SAMPLE_CONSENSUS: /usr/local/lib/libpcl_sample_consensus.so  
-- Found PCL_FILTERS: /usr/local/lib/libpcl_filters.so  
-- Found PCL_2D: /usr/local/include/pcl-1.14  
-- Found PCL_GEOMETRY: /usr/local/include/pcl-1.14  
-- Found PCL_IO: /usr/local/lib/libpcl_io.so  
-- Found PCL_FEATURES: /usr/local/lib/libpcl_features.so  
-- Found PCL_ML: /usr/local/lib/libpcl_ml.so  
-- Found PCL_SEGMENTATION: /usr/local/lib/libpcl_segmentation.so  
-- Found PCL_SURFACE: /usr/local/lib/libpcl_surface.so  
-- Found PCL_REGISTRATION: /usr/local/lib/libpcl_registration.so  
-- Found PCL_KEYPOINTS: /usr/local/lib/libpcl_keypoints.so  
-- Found PCL_TRACKING: /usr/local/lib/libpcl_tracking.so  
-- Found PCL_RECOGNITION: /usr/local/lib/libpcl_recognition.so  
-- Found PCL_STEREO: /usr/local/lib/libpcl_stereo.so  
-- PCL status:
--     version: 1.14.1
--     directory: /usr/local/share/pcl-1.14
CMake Warning (dev) at /usr/local/share/cmake-3.28/Modules/FetchContent.cmake:1331 (message):
  The DOWNLOAD_EXTRACT_TIMESTAMP option was not given and policy CMP0135 is
  not set.  The policy's OLD behavior will be used.  When using a URL
  download, the timestamps of extracted files should preferably be that of
  the time of extraction, otherwise code that depends on the extracted
  contents might not be rebuilt if the URL changes.  The OLD behavior
  preserves the timestamps from the archive instead, but this is usually not
  what you want.  Update your project to the NEW behavior or specify the
  DOWNLOAD_EXTRACT_TIMESTAMP option with a value of true to avoid this
  robustness issue.
Call Stack (most recent call first):
  cmake/functions.cmake:5 (FetchContent_Declare)
  CMakeLists.txt:40 (fetch_project)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at build/_deps/cloudparse-src/CMakeLists.txt:18 (find_package):
  Policy CMP0074 is not set: find_package uses <PackageName>_ROOT variables.
  Run "cmake --help-policy CMP0074" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  CMake variable PCL_ROOT is set to:

    /usr/local

  For compatibility, CMake is ignoring the variable.
This warning is for project developers.  Use -Wno-dev to suppress it.

-- PCL status:
--     version: 1.14.1
--     directory: /usr/local/share/pcl-1.14
CMake Warning (dev) at /usr/local/share/cmake-3.28/Modules/FetchContent.cmake:1331 (message):
  The DOWNLOAD_EXTRACT_TIMESTAMP option was not given and policy CMP0135 is
  not set.  The policy's OLD behavior will be used.  When using a URL
  download, the timestamps of extracted files should preferably be that of
  the time of extraction, otherwise code that depends on the extracted
  contents might not be rebuilt if the URL changes.  The OLD behavior
  preserves the timestamps from the archive instead, but this is usually not
  what you want.  Update your project to the NEW behavior or specify the
  DOWNLOAD_EXTRACT_TIMESTAMP option with a value of true to avoid this
  robustness issue.
Call Stack (most recent call first):
  cmake/functions.cmake:5 (FetchContent_Declare)
  CMakeLists.txt:45 (fetch_project)
This warning is for project developers.  Use -Wno-dev to suppress it.

=========================================
Project: upsampling_cloud COMPILED WITH CMAKE 3.28.0-rc3
=========================================
-- Configuring incomplete, errors occurred!

Then I suspect the pcl version mismatch, as that project used 1.12.1. So I want to find the previous verions in their “Downloads” and found there is an option for linux: sudo apt install libpcl-dev.

But my Ubuntu 22.04 run into errors:

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(base) zichen@homepc:~/Downloads/upsamplingCloudPCL$ dpkg -l |  grep pcl
(base) zichen@homepc:~/Downloads/upsamplingCloudPCL$ 
(base) zichen@homepc:~/Downloads/upsamplingCloudPCL$ sudo apt install libpcl-dev
Reading package lists... Done
Building dependency tree... Done
Reading state information... Done
Some packages could not be installed. This may mean that you have
requested an impossible situation or if you are using the unstable
distribution that some required packages have not yet been created
or been moved out of Incoming.
The following information may help to resolve the situation:

The following packages have unmet dependencies:
libqt5webkit5-dev : Depends: libqt5webkit5 (= 5.212.0~alpha4-15ubuntu1) but it is not installable
qttools5-dev : Depends: qttools5-dev-tools (= 5.15.3-1)
E: Unable to correct problems, you have held broken packages.

So I try to install it on Ubuntu 20.04. It can be installed, but the error for cmake the upsamplingCloudPCL persists.

(2024-06-27)

Recompile pcl after vtk installed.

Install dependencies:
- If vtk or libopenni-dev are missing, ccmake .. will stop at the log page (press l), where you can see which packages are not found.
- Set env: export VTK_DIR=~/vtk/build
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cd build ccmake -DCMAKE_BUILD_TYPE=RelWithDebInfo .. make -j8 sudo make install

Compiling with CUDA and GPU options turned on under cuda-11.8 fails:

cuda header cannot found:

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[ 51%] Built target pcl_outofcore
[ 51%] Building CXX object gpu/kinfu/tools/CMakeFiles/pcl_record_tsdfvolume.dir/record_tsdfvolume.cpp.o
[ 51%] Building CXX object gpu/kinfu/tools/CMakeFiles/pcl_record_tsdfvolume.dir/capture.cpp.o
[ 51%] Building CXX object gpu/kinfu/tools/CMakeFiles/pcl_kinfu_app.dir/evaluation.cpp.o
[ 51%] Linking CXX shared library ../lib/libpcl_surface.so
In file included from /home/zichen/Downloads/pcl/gpu/kinfu/tools/../src/internal.h:42,
                 from /home/zichen/Downloads/pcl/gpu/kinfu/tools/kinfu_app.cpp:84:
/home/zichen/Downloads/pcl/gpu/kinfu/tools/../src/safe_call.hpp:40:10: fatal error: cuda_runtime_api.h: No such file or directory
   40 | #include "cuda_runtime_api.h"
      |          ^~~~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [gpu/kinfu/tools/CMakeFiles/pcl_kinfu_app.dir/build.make:76: gpu/kinfu/tools/CMakeFiles/pcl_kinfu_app.dir/kinfu_app.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 51%] Building CXX object tools/CMakeFiles/pcl_viewer.dir/pcd_viewer.cpp.o
In file included from /home/zichen/Downloads/pcl/gpu/kinfu/tools/../src/internal.h:42,
                 from /home/zichen/Downloads/pcl/gpu/kinfu/tools/record_tsdfvolume.cpp:52:
/home/zichen/Downloads/pcl/gpu/kinfu/tools/../src/safe_call.hpp:40:10: fatal error: cuda_runtime_api.h: No such file or directory
   40 | #include "cuda_runtime_api.h"
      |          ^~~~~~~~~~~~~~~~~~~~
compilation terminated.

Recompiling pcl without turning on CUDA and GPU options succeeds.

Compile on Ubu 20.04 ✅

Compile PCL for leveraging Nvidia GPU: Tutorials

I’m concerning GPU version is not good for debugging.

(2024-05-13)

System info:

OS: Ubuntu 20.04.6 LTS x86_64, Kernel: 5.15.0-105-generic
CPU: Intel i7-9700 (8) @ 4.700GHz
GPU: NVIDIA GeForce GTX 1050 Ti; GPU: Intel UHD Graphics 630
Memory: 5010MiB / 15809MiB
gcc (Ubuntu 9.4.0-1ubuntu1~20.04.2) 9.4.0
Cudatoolkit: Cuda compilation tools, release 11.6, V11.6.55. Build cuda_11.6.r11.6/compiler.30794723_0

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sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt install g++-7 -y

sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-7 60 --slave /usr/bin/g++ g++ /usr/bin/g++-7
sudo update-alternatives --config gcc

Open GPU options in ccmake, which is an interactive interface How do I install ccmake? - SE

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# install ccmake
sudo apt-get install cmake-curses-gui

mkdir build; cd build
ccmake ..

I turned ON 2 options: BUILD_CUDA and BUILD_GPU

Press c again to finish configurations and then press g to generate makefiles.

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# cd build
make 
sudo make install

Fix install vtk

(2024-06-25)

I can’t cmake the project: dtcMLOps/upsamplingCloudPCL on alienware. I though I missed some dependencies.

Install (developer-version) dependencies:

opengl: How to Install OpenGL Library on Ubuntu 20.04 LTS (Focal Fossa) DDG

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sudo apt update && sudo apt upgrade
sudo apt install freeglut3-dev libpcap-dev libusb-1.0-0-dev
dpkg -L freeglut3-dev

vtk: Getting Started-vtk
1

sudo apt install libvtk7-dev

After them, I didn’t compile the pcl again. I found there a pre-built libpcl-dev provided for linux, which is said “the recommended installation method” Download page

1

(base) yi@yi-Alienware-Aurora-R8:~$ sudo apt install libpcl-dev

The version is 1.10.0

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(base) yi@yi-Alienware-Aurora-R8:~$ dpkg -l | grep pcl
ii  libdapclient6v5:amd64                 3.20.5-1                  amd64      Client library for the Network Data Access Protocol
ii  libpcl-apps1.10:amd64                 1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - apps library
ii  libpcl-common1.10:amd64               1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - common library
ii  libpcl-dev                            1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - development files
ii  libpcl-features1.10:amd64             1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - features library
ii  libpcl-filters1.10:amd64              1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - filters library
ii  libpcl-io1.10:amd64                   1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - I/O library
ii  libpcl-kdtree1.10:amd64               1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - kdtree library
ii  libpcl-keypoints1.10:amd64            1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - keypoints library
ii  libpcl-ml1.10:amd64                   1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - ml library
ii  libpcl-octree1.10:amd64               1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - octree library
ii  libpcl-outofcore1.10:amd64            1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - outofcore library
ii  libpcl-people1.10:amd64               1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - people library
ii  libpcl-recognition1.10:amd64          1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - recognition library
ii  libpcl-registration1.10:amd64         1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - registration library
ii  libpcl-sample-consensus1.10:amd64     1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - sample consensus library
ii  libpcl-search1.10:amd64               1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - search library
ii  libpcl-segmentation1.10:amd64         1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - segmentation library
ii  libpcl-stereo1.10:amd64               1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - stereo library
ii  libpcl-surface1.10:amd64              1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - surface library
ii  libpcl-tracking1.10:amd64             1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - tracking library
ii  libpcl-visualization1.10:amd64        1.10.0+dfsg-5ubuntu1      amd64      Point Cloud Library - visualization library 

And pcl-1.10 can be found:

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(base) yi@yi-Alienware-Aurora-R8:~$ whereis pcl-1.10
pcl-1: /usr/include/pcl-1.10

I know its name beacuse I saw the folder pcl-1.10 in /usr/include.
I was inspire by this anwser: Ubuntu 20.04 can’t find PCL because of incorrect include directory after installing it by sudo apt install libpcl-dev ( Found in DDG )

cmake has no error:

cmake output

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(base) yi@yi-Alienware-Aurora-R8:~/Downloads/upsamplingCloudPCL$ cmake -Bbuild
-- The CXX compiler identification is GNU 9.4.0
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Check for working CXX compiler: /usr/bin/c++ - skipped
-- Detecting CXX compile features
-- Detecting CXX compile features - done

=========================================
Project: upsampling_cloud 
=========================================
CMake Warning (dev) at /usr/local/share/pcl-1.14/Modules/FindFLANN.cmake:45 (find_package):
  Policy CMP0144 is not set: find_package uses upper-case <PACKAGENAME>_ROOT
  variables.  Run "cmake --help-policy CMP0144" for policy details.  Use the
  cmake_policy command to set the policy and suppress this warning.

  CMake variable FLANN_ROOT is set to:

    /usr

  For compatibility, find_package is ignoring the variable, but code in a
  .cmake module might still use it.
Call Stack (most recent call first):
  /usr/local/share/pcl-1.14/PCLConfig.cmake:260 (find_package)
  /usr/local/share/pcl-1.14/PCLConfig.cmake:305 (find_flann)
  /usr/local/share/pcl-1.14/PCLConfig.cmake:570 (find_external_library)
  CMakeLists.txt:29 (find_package)
This warning is for project developers.  Use -Wno-dev to suppress it.

-- Checking for module 'flann'
--   Found flann, version 1.9.1
-- Found FLANN: /usr/lib/x86_64-linux-gnu/libflann_cpp.so  
-- FLANN found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libflann_cpp.so)
-- Found OpenMP_CXX: -fopenmp (found version "4.5") 
-- Found OpenMP: TRUE (found version "4.5") found components: CXX 
-- Found Pcap: /usr/lib/x86_64-linux-gnu/libpcap.so  
-- Found ZLIB: /usr/lib/x86_64-linux-gnu/libz.so (found version "1.2.11")  
-- Found PNG: /usr/lib/x86_64-linux-gnu/libpng.so (found version "1.6.37") 
-- The imported target "vtkParseOGLExt" references the file
   "/usr/bin/vtkParseOGLExt-7.1"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtkRenderingPythonTkWidgets" references the file
   "/usr/lib/x86_64-linux-gnu/libvtkRenderingPythonTkWidgets.so"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "vtk" references the file
   "/usr/bin/vtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- The imported target "pvtk" references the file
   "/usr/bin/pvtk"
but this file does not exist.  Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
   "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
but not all the files it references.

-- Checking for module 'libusb-1.0'
--   Found libusb-1.0, version 1.0.23
-- Found libusb: /usr/lib/x86_64-linux-gnu/libusb-1.0.so  
-- Found Qhull: /usr/lib/x86_64-linux-gnu/libqhull_r.so  
-- QHULL found (include: /usr/include, lib: /usr/lib/x86_64-linux-gnu/libqhull_r.so)
-- Found PCL_COMMON: /usr/local/lib/libpcl_common.so  
-- Found PCL_KDTREE: /usr/local/lib/libpcl_kdtree.so  
-- Found PCL_OCTREE: /usr/local/lib/libpcl_octree.so  
-- Found PCL_SEARCH: /usr/local/lib/libpcl_search.so  
-- Found PCL_SAMPLE_CONSENSUS: /usr/local/lib/libpcl_sample_consensus.so  
-- Found PCL_FILTERS: /usr/local/lib/libpcl_filters.so  
-- Found PCL_2D: /usr/local/include/pcl-1.14  
-- Found PCL_GEOMETRY: /usr/local/include/pcl-1.14  
-- Found PCL_IO: /usr/local/lib/libpcl_io.so  
-- Found PCL_FEATURES: /usr/local/lib/libpcl_features.so  
-- Found PCL_ML: /usr/local/lib/libpcl_ml.so  
-- Found PCL_SEGMENTATION: /usr/local/lib/libpcl_segmentation.so
-- Found PCL_SURFACE: /usr/local/lib/libpcl_surface.so  
-- Found PCL_REGISTRATION: /usr/local/lib/libpcl_registration.so
-- Found PCL_KEYPOINTS: /usr/local/lib/libpcl_keypoints.so  
-- Found PCL_TRACKING: /usr/local/lib/libpcl_tracking.so  
-- Found PCL_RECOGNITION: /usr/local/lib/libpcl_recognition.so  
-- Found PCL_STEREO: /usr/local/lib/libpcl_stereo.so  
-- Found PCL_CUDA_COMMON: /usr/local/include/pcl-1.14  
-- Found PCL_CUDA_FEATURES: /usr/local/lib/libpcl_cuda_features.so  
-- Found PCL_CUDA_SEGMENTATION: /usr/local/lib/libpcl_cuda_segmentation.so  
-- Found PCL_CUDA_SAMPLE_CONSENSUS: /usr/local/lib/libpcl_cuda_sample_consensus.so  
-- Found PCL_GPU_CONTAINERS: /usr/local/lib/libpcl_gpu_containers.so  
-- Found PCL_GPU_UTILS: /usr/local/lib/libpcl_gpu_utils.so  
-- Found PCL_GPU_OCTREE: /usr/local/lib/libpcl_gpu_octree.so  
-- Found PCL_GPU_FEATURES: /usr/local/lib/libpcl_gpu_features.so
-- Found PCL_GPU_KINFU: /usr/local/lib/libpcl_gpu_kinfu.so  
-- Found PCL_GPU_SEGMENTATION: /usr/local/lib/libpcl_gpu_segmentation.so  
-- PCL status:
--     version: 1.14.1
--     directory: /usr/local/share/pcl-1.14
CMake Warning (dev) at /usr/local/share/cmake-3.28/Modules/FetchContent.cmake:1331 (message):
  The DOWNLOAD_EXTRACT_TIMESTAMP option was not given and policy CMP0135 is
  not set.  The policy's OLD behavior will be used.  When using a URL
  download, the timestamps of extracted files should preferably be that of
  the time of extraction, otherwise code that depends on the extracted
  contents might not be rebuilt if the URL changes.  The OLD behavior
  preserves the timestamps from the archive instead, but this is usually not
  what you want.  Update your project to the NEW behavior or specify the
  DOWNLOAD_EXTRACT_TIMESTAMP option with a value of true to avoid this
  robustness issue.
Call Stack (most recent call first):
  cmake/functions.cmake:5 (FetchContent_Declare)
  CMakeLists.txt:39 (fetch_project)
This warning is for project developers.  Use -Wno-dev to suppress it.

CMake Warning (dev) at build/_deps/cloudparse-src/CMakeLists.txt:18 (find_package):
  Policy CMP0074 is not set: find_package uses <PackageName>_ROOT variables.
  Run "cmake --help-policy CMP0074" for policy details.  Use the cmake_policy
  command to set the policy and suppress this warning.

  CMake variable PCL_ROOT is set to:

    /usr/local

  For compatibility, CMake is ignoring the variable.
This warning is for project developers.  Use -Wno-dev to suppress it.

-- PCL status:
--     version: 1.14.1
--     directory: /usr/local/share/pcl-1.14
CMake Warning (dev) at /usr/local/share/cmake-3.28/Modules/FetchContent.cmake:1331 (message):
  The DOWNLOAD_EXTRACT_TIMESTAMP option was not given and policy CMP0135 is
  not set.  The policy's OLD behavior will be used.  When using a URL
  download, the timestamps of extracted files should preferably be that of
  the time of extraction, otherwise code that depends on the extracted
  contents might not be rebuilt if the URL changes.  The OLD behavior
  preserves the timestamps from the archive instead, but this is usually not
  what you want.  Update your project to the NEW behavior or specify the
  DOWNLOAD_EXTRACT_TIMESTAMP option with a value of true to avoid this
  robustness issue.
Call Stack (most recent call first):
  cmake/functions.cmake:5 (FetchContent_Declare)
  CMakeLists.txt:44 (fetch_project)
This warning is for project developers.  Use -Wno-dev to suppress it.

=========================================
Project: upsampling_cloud COMPILED WITH CMAKE 3.28.0-rc3
=========================================
-- Configuring done (2.1s)
CMake Warning at CMakeLists.txt:57 (add_executable):
  Cannot generate a safe runtime search path for target upsampling_cloud
  because files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libfreetype.so.6] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libz.so.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libexpat.so.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libpng16.so.16] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libtiff.so.5] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libpython3.8.so.1.0] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libsz.so.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libxml2.so.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libQt5Widgets.so.5] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libQt5Gui.so.5] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libQt5Sql.so.5] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libQt5Core.so.5] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libgomp.so.1] in /usr/lib/gcc/x86_64-linux-gnu/9 may be hidden by files in:
      /home/yi/anaconda3/lib

  Some of these libraries may not be found correctly.


CMake Warning at build/_deps/cloudparse-src/CMakeLists.txt:31 (add_library):
  Cannot generate a safe runtime search path for target cloudparse because
  files in some directories may conflict with libraries in implicit
  directories:

    runtime library [libpng16.so.16] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libexpat.so.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libtiff.so.5] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libQt5Widgets.so.5] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libQt5Gui.so.5] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libQt5Sql.so.5] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libQt5Core.so.5] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libsz.so.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libxml2.so.2] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libpython3.8.so.1.0] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libz.so.1] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libfreetype.so.6] in /usr/lib/x86_64-linux-gnu may be hidden by files in:
      /home/yi/anaconda3/lib
    runtime library [libgomp.so.1] in /usr/lib/gcc/x86_64-linux-gnu/9 may be hidden by files in:
      /home/yi/anaconda3/lib

  Some of these libraries may not be found correctly.


-- Generating done (0.0s)
-- Build files have been written to: /home/yi/Downloads/upsamplingCloudPCL/build

But make has error:

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(base) yi@yi-Alienware-Aurora-R8:~/Downloads/upsamplingCloudPCL/build$ make 
[ 25%] Building CXX object _deps/cloudparse-build/CMakeFiles/cloudparse.dir/src/parser.cpp.o
In file included from /home/yi/Downloads/upsamplingCloudPCL/build/_deps/cloudparse-src/include/cloudparse/parser.hpp:19,
                 from /home/yi/Downloads/upsamplingCloudPCL/build/_deps/cloudparse-src/src/parser.cpp:1:
/home/yi/Downloads/upsamplingCloudPCL/build/_deps/cloudparse-src/include/cloudparse/concrete_parses.hpp:13:10: fatal error: pcl/io/vtk_lib_io.h: No such file or directory
   13 | #include <pcl/io/vtk_lib_io.h>
      |          ^~-~-~-~-~-~-~-~-~-~
compilation terminated.
make[2]: *** [_deps/cloudparse-build/CMakeFiles/cloudparse.dir/build.make:76: _deps/cloudparse-build/CMakeFiles/cloudparse.dir/src/parser.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:144: _deps/cloudparse-build/CMakeFiles/cloudparse.dir/all] Error 2
make: *** [Makefile:156: all] Error 2

Maybe I need to re-compile pcl.

Re-compile pcl:

Error:

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[ 42%] Linking CXX executable ../bin/pcl_vtk2ply
[ 42%] Built target pcl_vtk2ply
Scanning dependencies of target pcl_viewer
[ 42%] Building CXX object tools/CMakeFiles/pcl_viewer.dir/pcd_viewer.cpp.o
[ 42%] Built target pcl_hdl_viewer_simple
Scanning dependencies of target pcl_pcd2png
[ 43%] Building CXX object tools/CMakeFiles/pcl_pcd2png.dir/pcd2png.cpp.o
[ 43%] Linking CXX shared library ../lib/libpcl_surface.so
[ 43%] Linking CXX executable ../bin/pcl_compute_cloud_error
[ 43%] Built target pcl_compute_cloud_error
Scanning dependencies of target pcl_convert_pcd_ascii_binary
[ 43%] Linking CXX executable ../bin/pcl_obj2vtk
[ 44%] Linking CXX executable ../bin/pcl_ply2pcd
[ 44%] Building CXX object tools/CMakeFiles/pcl_convert_pcd_ascii_binary.dir/convert_pcd_ascii_binary.cpp.o
[ 44%] Built target pcl_obj2vtk
Scanning dependencies of target pcl_pcd_introduce_nan
[ 44%] Building CXX object tools/CMakeFiles/pcl_pcd_introduce_nan.dir/pcd_introduce_nan.cpp.o
[ 44%] Built target pcl_ply2pcd
Scanning dependencies of target pcl_outofcore
[ 44%] Building CXX object outofcore/CMakeFiles/pcl_outofcore.dir/src/cJSON.cpp.o
[ 44%] Linking CXX executable ../bin/pcl_compute_hausdorff
[ 44%] Built target pcl_surface
Scanning dependencies of target pcl_record_tsdfvolume
[ 44%] Building CXX object gpu/kinfu/tools/CMakeFiles/pcl_record_tsdfvolume.dir/record_tsdfvolume.cpp.o
[ 45%] Building CXX object outofcore/CMakeFiles/pcl_outofcore.dir/src/outofcore_node_data.cpp.o
[ 45%] Built target pcl_compute_hausdorff
Scanning dependencies of target pcl_kinfu_app
[ 45%] Building CXX object gpu/kinfu/tools/CMakeFiles/pcl_kinfu_app.dir/kinfu_app.cpp.o
In file included from /home/yi/Downloads/pcl/gpu/kinfu/tools/../src/internal.h:42:0,
                 from /home/yi/Downloads/pcl/gpu/kinfu/tools/record_tsdfvolume.cpp:52:
/home/yi/Downloads/pcl/gpu/kinfu/tools/../src/safe_call.hpp:40:10: fatal error: cuda_runtime_api.h: No such file or directory
 #include "cuda_runtime_api.h"
          ^~-~~-~-~-~-~-~-~-~-
compilation terminated.
make[2]: *** [gpu/kinfu/tools/CMakeFiles/pcl_record_tsdfvolume.dir/build.make:63: gpu/kinfu/tools/CMakeFiles/pcl_record_tsdfvolume.dir/record_tsdfvolume.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:2346: gpu/kinfu/tools/CMakeFiles/pcl_record_tsdfvolume.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 45%] Building CXX object gpu/kinfu/tools/CMakeFiles/pcl_kinfu_app.dir/capture.cpp.o
In file included from /home/yi/Downloads/pcl/gpu/kinfu/tools/../src/internal.h:42:0,
                 from /home/yi/Downloads/pcl/gpu/kinfu/tools/kinfu_app.cpp:84:
/home/yi/Downloads/pcl/gpu/kinfu/tools/../src/safe_call.hpp:40:10: fatal error: cuda_runtime_api.h: No such file or directory
 #include "cuda_runtime_api.h"
          ^~-~~-~-~-~-~-~-~-~-
compilation terminated.
make[2]: *** [gpu/kinfu/tools/CMakeFiles/pcl_kinfu_app.dir/build.make:63: gpu/kinfu/tools/CMakeFiles/pcl_kinfu_app.dir/kinfu_app.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
[ 45%] Building CXX object outofcore/CMakeFiles/pcl_outofcore.dir/src/outofcore_base_data.cpp.o
[ 45%] Linking CXX executable ../bin/pcl_convert_pcd_ascii_binary
[ 45%] Built target pcl_convert_pcd_ascii_binary
[ 45%] Linking CXX executable ../bin/pcl_pcd2png
[ 45%] Built target pcl_pcd2png
[ 45%] Linking CXX shared library ../lib/libpcl_outofcore.so
[ 45%] Built target pcl_outofcore
make[1]: *** [CMakeFiles/Makefile2:2379: gpu/kinfu/tools/CMakeFiles/pcl_kinfu_app.dir/all] Error 2
[ 45%] Linking CXX executable ../bin/pcl_pcd_introduce_nan
[ 45%] Built target pcl_pcd_introduce_nan
[ 45%] Linking CXX executable ../bin/pcl_viewer
[ 45%] Built target pcl_viewer
[ 45%] Linking CXX shared library ../lib/libpcl_sample_consensus.so
[ 45%] Built target pcl_sample_consensus
make: *** [Makefile:152: all] Error 2

I suspect the problem is the libvtk7-dev installed before: During ccmake configuration, the vtk is detected, so cuda will be called to build for some functions. But I don’t know why cuda can’t be found.

(2024-06-26)

Change conda env doesn’t work

Change a conda env can avoid some warnings about lib hidden when ccmake configuration.

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(base) yi@yi-Alienware-Aurora-R8:~/Downloads/pcl$ conda activate casmvsnet_pl
(casmvsnet_pl) yi@yi-Alienware-Aurora-R8:~/Downloads/pcl$ cd build/
(casmvsnet_pl) yi@yi-Alienware-Aurora-R8:~/Downloads/pcl/build$ rm -r *
rm: cannot remove '*': No such file or directory
(casmvsnet_pl) yi@yi-Alienware-Aurora-R8:~/Downloads/pcl/build$ ls
(casmvsnet_pl) yi@yi-Alienware-Aurora-R8:~/Downloads/pcl/build$ ccmake ..

(casmvsnet_pl) yi@yi-Alienware-Aurora-R8:~/Downloads/pcl/build$ make

Set the following env variables doesn’t work:

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# CUDA
export CUDA=11.6
export PATH=/usr/local/cuda-$CUDA/bin${PATH:+:${PATH}}
export CUDA_PATH=/usr/local/cuda-$CUDA
export CUDA_HOME=/usr/local/cuda-$CUDA
export LIBRARY_PATH=$CUDA_HOME/lib64:$LIBRARY_PATH
export LD_LIBRARY_PATH=/usr/local/cuda-$CUDA/lib64${LD_LIBRARY_PATH:+:${LD_LIBRARY_PATH}}
export LD_LIBRARY_PATH=/usr/local/cuda/extras/CUPTI/lib64:$LD_LIBRARY_PATH
export NVCC=/usr/local/cuda-$CUDA/bin/nvcc
export CFLAGS="-I$CUDA_HOME/include $CFLAGS"

Copy from Fatal error: cuda_runtime_api.h: No such file or directory ( Found in DDG )

Then I wonder “how to verify vtk installed on my system” (DDG)

Remove libvtk7-dev and re-compile pcl:

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(casmvsnet_pl) yi@yi-Alienware-Aurora-R8:~/Downloads/pcl/build$ sudo apt remove --purge libvtk7-dev

Recompile again, but this time VTK can’t be found at ccmake configuration:

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 CMake Warning at cmake/pcl_find_vtk.cmake:31 (find_package):
   By not providing "FindVTK.cmake" in CMAKE_MODULE_PATH this project has
   asked CMake to find a package configuration file provided by "VTK", but
   CMake did not find one.

   Could not find a package configuration file provided by "VTK" with any of
   the following names:

     VTKConfig.cmake
     vtk-config.cmake

   Add the installation prefix of "VTK" to CMAKE_PREFIX_PATH or set "VTK_DIR"
   to a directory containing one of the above files.  If "VTK" provides a
   separate development package or SDK, be sure it has been installed.
 Call Stack (most recent call first):
   CMakeLists.txt:398 (include)

Therefore, the vtk-dev is required for some options.
The functions related to VTK are supposed to be ignored, so the compile suceeded (make -j8).

Install vtk from src code: Building - VTK doc

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(casmvsnet_pl) yi@yi-Alienware-Aurora-R8:~/vtk/build$ cmake --build ~/vtk/build
[5091/5091] Creating library symlink lib/libvtkFiltersFlowPaths-9.3.so.1 lib/libvtkFiltersFlowPaths-9.3.so

Recompile pcl

The warning still occurs: CMake Warning at cmake/pcl_find_vtk.cmake:31 (find_package):

I need to specify the path to vtk:

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(base) yi@yi-Alienware-Aurora-R8:~/Downloads/pcl/build$ export VTK_DIR=/home/yi/vtk/build
(base) yi@yi-Alienware-Aurora-R8:~/Downloads/pcl/build$ conda activate casmvsnet_pl
(casmvsnet_pl) yi@yi-Alienware-Aurora-R8:~/Downloads/pcl/build$ ccmake ..

The cuda headers: cuda_runtime_api.h still can’t be found:

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Scanning dependencies of target pcl_oni_viewer
[ 45%] Building CXX object tools/CMakeFiles/pcl_oni_viewer.dir/oni_viewer_simple.cpp.o
In file included from /home/yi/Downloads/pcl/gpu/kinfu/tools/../src/internal.h:42:0,
                 from /home/yi/Downloads/pcl/gpu/kinfu/tools/record_tsdfvolume.cpp:52:
/home/yi/Downloads/pcl/gpu/kinfu/tools/../src/safe_call.hpp:40:10: fatal error: cuda_runtime_api.h: No such file or directory
 #include "cuda_runtime_api.h"
          ^~-~~-~-~-~-~-~-~-~-
compilation terminated.
make[2]: *** [gpu/kinfu/tools/CMakeFiles/pcl_record_tsdfvolume.dir/build.make:63: gpu/kinfu/tools/CMakeFiles/pcl_record_tsdfvolume.dir/record_tsdfvolume.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:2346: gpu/kinfu/tools/CMakeFiles/pcl_record_tsdfvolume.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 45%] Building CXX object gpu/kinfu/tools/CMakeFiles/pcl_kinfu_app.dir/capture.cpp.o
[ 45%] Building CXX object outofcore/CMakeFiles/pcl_outofcore.dir/src/outofcore_base_data.cpp.o
[ 46%] Linking CXX executable ../bin/pcl_pcd2png
[ 46%] Built target pcl_pcd2png
[ 46%] Building CXX object gpu/kinfu/tools/CMakeFiles/pcl_kinfu_app.dir/evaluation.cpp.o
In file included from /home/yi/Downloads/pcl/gpu/kinfu/tools/../src/internal.h:42:0,
                 from /home/yi/Downloads/pcl/gpu/kinfu/tools/kinfu_app.cpp:84:
/home/yi/Downloads/pcl/gpu/kinfu/tools/../src/safe_call.hpp:40:10: fatal error: cuda_runtime_api.h: No such file or directory
 #include "cuda_runtime_api.h"
          ^~-~~-~-~-~-~-~-~-~-
compilation terminated.

Compilation succeeds when I don’t turn on CUDA and GPU options, so I installed a CPU version.
I may try to paste the cuda envs into .bashrc and compile again, can it found?

The header <pcl/io/vtk xxx> still can’t be found when make the project [upsamplingCloudPCL].

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(casmvsnet_pl) yi@yi-Alienware-Aurora-R8:~/Downloads/upsamplingCloudPCL/build$ make
[ 25%] Building CXX object _deps/cloudparse-build/CMakeFiles/cloudparse.dir/src/parser.cpp.o
In file included from /home/yi/Downloads/upsamplingCloudPCL/build/_deps/cloudparse-src/include/cloudparse/parser.hpp:19:0,
                 from /home/yi/Downloads/upsamplingCloudPCL/build/_deps/cloudparse-src/src/parser.cpp:1:
/home/yi/Downloads/upsamplingCloudPCL/build/_deps/cloudparse-src/include/cloudparse/concrete_parses.hpp:13:10: fatal error: pcl/io/vtk_lib_io.h: No such file or directory
 #include <pcl/io/vtk_lib_io.h>
          ^~-~~-~-~-~-~-~-~-~-
compilation terminated.

Should I create a symblic link: /usr/include/pcl instead of /usr/include/pcl-1.14 (containing pcl/), similar to the symblic link /usr/local/cuda directly contains dirs like bin/ wihouth an outer extra intermediate folder? So, when I’m checking the folders, I found the date of the pcl folder is 24-05-13. I realized I haven’t install the pcl after compilaiton.

I sudo make install the pcl (Log file)

The vtk_lib_io.h can be found!

Another error:

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(casmvsnet_pl) yi@yi-Alienware-Aurora-R8:~/Downloads/upsamplingCloudPCL/build$ make
[ 25%] Building CXX object _deps/cloudparse-build/CMakeFiles/cloudparse.dir/src/parser.cpp.o
[ 50%] Linking CXX shared library libcloudparse.so
[ 50%] Built target cloudparse
[ 75%] Building CXX object CMakeFiles/upsampling_cloud.dir/src/main.cpp.o
In file included from /home/yi/Downloads/upsamplingCloudPCL/src/main.cpp:5:0:
/home/yi/Downloads/upsamplingCloudPCL/build/_deps/argparse-src/include/argparse/argparse.hpp:36:10: fatal error: charconv: No such file or directory
 #include <charconv>
          ^~-~-~-~-~
compilation terminated.
make[2]: *** [CMakeFiles/upsampling_cloud.dir/build.make:76: CMakeFiles/upsampling_cloud.dir/src/main.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:118: CMakeFiles/upsampling_cloud.dir/all] Error 2
make: *** [Makefile:156: all] Error 2

Claude3.5 remindes me this is a feature of C++17. I remember I had set g++ to 7 for compiling pcl.

Once I switch g++ to 9, this error is gone. And the compilation for upsamplingCloudPCL succeeds. (Log file)

Summary:

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ccmake -DCMAKE_BUILD_TYPE=Debug ..
# Use the default options without turnning on CUDA and GPU
make -j8
sudo make -j8 install

Convert ply pcd

(2024-05-11)

Ref: Convertion of .ply format to .pcd format - SO

PCD File Format: Tutorial

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import open3d as o3d
ply = o3d.io.read_point_cloud("source_pointcloud.ply")
o3d.io.write_point_cloud("sink_pointcloud.pcd", ply)

Then use loadPCDFile to a PCLPointCloud2 template point cloud.

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pcl::PCLPointCloud2 cloud_blob;
pcl::io::loadPCDFile ("../pcl/test/bun0.pcd", cloud_blob);

In this way, however, there is no triangle formed, as shown in the last line of the file “mesh.vtk”: POLYGONS 0 0. VTK file formats

Similarly, the following point cloud only produced 9 triangles. GreedyProjectionTriangulation · Issue #4123 (Search: “PointCloudLibrary triangulation cannot form polygons” in DDG)

(2024-05-13)

The greedy projection is not good.

how to create mesh in delaunay triangulation using pcl library #6225 (Surfaced by searching “pointcloudlibrary triangulation”)

Read Ply file

(2024-05-12)

Docs

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#include <pcl/io/ply_io.h>
pcl::io::loadPLYFile ("../CasMVSNet_pl-comments/results/dtu/image_ref/scan1/points3d.ply", cloud_blob);

Debug

Repo-Github

(2024-05-12)

The C/C++ extension in VSCode can’t cannot open source file "pcl/point_types.h"C/C++(1696)

Set IncludePath referring to Visual Studio Code cannot open source file “iostream” - SO

BTW, To find the path to C++: gcc -v -E -x c++ -
Create c_cpp_properties.json by pressing Ctrl+Shift+p and select C/C++: Edit Configurations (JSON)

Append includePath

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"includePath": [
                "${workspaceFolder}/**",
                "/usr/local/include/pcl-1.14",
                "/home/zichen/.local/include/eigen3"
             ]

Eigen must be installed: cannot open source file "Eigen/StdVector" (dependency of "pcl/io/pcd_io.h")C/C++(1696)

Installation Guide: Eigen - GitHub Pages

It's installed in .local/include/eigen/

{{{

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-- Configured Eigen 3.3.7
-- 
-- Some things you can do now:
-- --------------+--------------------------------------------------------------
-- Command       |   Description
-- --------------+--------------------------------------------------------------
-- make install  | Install Eigen. Headers will be installed to:
--               |     <CMAKE_INSTALL_PREFIX>/<INCLUDE_INSTALL_DIR>
--               |   Using the following values:
--               |     CMAKE_INSTALL_PREFIX: /home/zichen/.local
--               |     INCLUDE_INSTALL_DIR:  include/eigen3
--               |   Change the install location of Eigen headers using:
--               |     cmake . -DCMAKE_INSTALL_PREFIX=yourprefix
--               |   Or:
--               |     cmake . -DINCLUDE_INSTALL_DIR=yourdir
-- make doc      | Generate the API documentation, requires Doxygen & LaTeX
-- make check    | Build and run the unit-tests. Read this page:
--               |   http://eigen.tuxfamily.org/index.php?title=Tests
-- make blas     | Build BLAS library (not the same thing as Eigen)
-- make uninstall| Removes files installed by make install
-- --------------+--------------------------------------------------------------
-- 
-- Configuring done (3.0s)
-- Generating done (1.1s)
-- Build files have been written to: /tmp/eigen/build
+ make install
Install the project...
-- Install configuration: "Release"
-- Installing: /home/zichen/.local/include/eigen3/signature_of_eigen3_matrix_library
-- Installing: /home/zichen/.local/share/pkgconfig/eigen3.pc
-- Installing: /home/zichen/.local/share/eigen3/cmake/Eigen3Targets.cmake
-- Installing: /home/zichen/.local/share/eigen3/cmake/UseEigen3.cmake
-- Installing: /home/zichen/.local/share/eigen3/cmake/Eigen3Config.cmake
-- Installing: /home/zichen/.local/share/eigen3/cmake/Eigen3ConfigVersion.cmake
-- Installing: /home/zichen/.local/include/eigen3/Eigen/Cholesky
-- Installing: /home/zichen/.local/include/eigen3/Eigen/CholmodSupport
-- Installing: /home/zichen/.local/include/eigen3/Eigen/Core
-- Installing: /home/zichen/.local/include/eigen3/Eigen/Dense
-- Installing: /home/zichen/.local/include/eigen3/Eigen/Eigen
-- Installing: /home/zichen/.local/include/eigen3/Eigen/Eigenvalues
-- Installing: /home/zichen/.local/include/eigen3/Eigen/Geometry
-- Installing: /home/zichen/.local/include/eigen3/Eigen/Householder
-- Installing: /home/zichen/.local/include/eigen3/Eigen/IterativeLinearSolvers
-- Installing: /home/zichen/.local/include/eigen3/Eigen/Jacobi
-- Installing: /home/zichen/.local/include/eigen3/Eigen/LU
-- Installing: /home/zichen/.local/include/eigen3/Eigen/MetisSupport
-- Installing: /home/zichen/.local/include/eigen3/Eigen/OrderingMethods
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}}}

CloudCompare

Homepage | Download page

Install:

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sudo apt install flatpak

# Add the Flathub repository
flatpak remote-add --if-not-exists flathub https://dl.flathub.org/repo/flathub.flatpakrepo

# Install CloudCompare
flatpak install flathub org.cloudcompare.CloudCompare

# Run the app
flatpak run org.cloudcompare.CloudCompare
# (base) yi@Alienware:~$ flatpak run org.cloudcompare.CloudCompare

It pops to warn about Python 3.11 requirement. But it’s okay to run in my conda env with Python 3.8.

Open a .vtk file:

The mesh.vtk result of greedy_projection.cpp for dtu scan1 point cloud (.ply) indeed doesn’t have mesh:

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[19:15:38] [VTK] vtk output
[19:15:39] An error occurred while loading 'mesh': nothing to load

MeshLab

Remeshing

(2024-05-13)

Version: MeshLab 64bit dp v2023.12d built on Dec 12 2023 with GCC 9.4.0 and Qt 5.15.2.

Tutorial: MeshLab: Point Cloud to Mesh - Design Support - Greenwich Blogs (Search: “meshlab convert point cloud to mesh”)

Filters -> Remeshing, Simplification and Reconstruction -> Surface Reconstruction: Screened Poisson (or Ball Pivoting)

Poisson (defalut)	Ball Pivoting (default)
Recon depth: 8	Clustering radius: 20%

The .ply file is generated by casmvsnet_pl

Triangulation

Ball-Pivoting

Open3D

open3d.geometry.TriangleMesh - Docs

Ref: 5-Step Guide to generate 3D meshes from point clouds with Python - Medium - Florent Poux, Ph.D

Basic code

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import open3d as o3d
import numpy as np

pcd = o3d.io.read_point_cloud("/home/yi/Downloads/CasMVSNet_pl-comments/results/dtu/image_ref/scan1/points3d.ply", format='ply')

distances = pcd.compute_nearest_neighbor_distance()
avg_dist = np.mean(distances)
# The radius of the ball should be larger than the avg distance between points
radius = 3 * avg_dist

# Ball-Pivoting Algorithm
bpa_mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_ball_pivoting(pcd,o3d.utility.DoubleVector([radius, radius * 2]))

dec_mesh = bpa_mesh.simplify_quadric_decimation(100000)

dec_mesh.remove_degenerate_triangles()
dec_mesh.remove_duplicated_triangles()
dec_mesh.remove_duplicated_vertices()
dec_mesh.remove_non_manifold_edges()

o3d.io.write_triangle_mesh("bpa_mesh.ply", dec_mesh)

Open the .ply file with ParaView:
- The ball-pivoting algorithm result is better than possion on this point cloud.

Retrieve triangles vertices:

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print(np.asarray(dec_mesh.triangles).shape)
print(dec_mesh.triangles[0])
print(np.asarray(dec_mesh.vertices).shape)
print(dec_mesh.vertices[100567])
# print(np.asarray(dec_mesh.triangle_uvs).shape)
print(dec_mesh)

vertices = np.asarray(dec_mesh.vertices)    # (220_583, 3)
vertices = torch.from_numpy(vertices)
triangles = np.asarray(dec_mesh.triangles)  # (100_000, 3)
triangles = torch.from_numpy(triangles)
K = 3 # number of vertices
# Coordinates of 3 vertices of each triangle
nnCoords = vertices.gather(dim=0, index=triangles.reshape(-1,1).expand(-1,3).type(torch.int64)).view(-1,K,3)  # (100_000,K,3)

Poisson

Open3D

Basic Code:

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poisson_mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_poisson(pcd, depth=8, width=0, scale=1.1, linear_fit=False)[0]

bbox = pcd.get_axis_aligned_bounding_box()
p_mesh_crop = poisson_mesh.crop(bbox)

o3d.io.write_triangle_mesh("p_mesh_c.ply", p_mesh_crop)

Visualization in ParaView
- Don’t know if the normals of the input .ply caused the Poisson reconsturction bad. It seems like a sheet is blown up.

Delaunay

(2024-06-21)

Search: “open3d delaunay triangulation” in DDG

PCL

(2024-05-13)

Search: “pointcloudlibrary triangulation” in DDG

“how to create mesh in delaunay triangulation using pcl library” IntelRealSense-github
- An alternative is using CloudCompare. Palissy ware project

Open3D

(2024-06-21)

Search: “open3d delaunay triangulation” in DDG doesn’t reveal Docs related to delaunay.

I asked perplexity: “Doesn’t the Open3D library have an implementation of Delaunay triangulation?”
- Open3D does have since 0.8.0

geogram

(2024-06-21)

Repo: BrunoLevy/geogram (Found in DDG)

scipy

(2024-06-21)

PyVista

(2024-06-21)

3D point set processing in python: a quick overview - Medium (Found in DDG)

Projection

Greedy Projection

Code: PCL-Tutorial

Change the path to .pcd file:

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pcl::io::loadPCDFile ("../../pcl/test/bun0.pcd", cloud_blob);

Save point cloud as .vtk file:

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pcl::io::saveVTKFile ("mesh.vtk", triangles);

Build and compile:

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cmake -B ./build -DCMAKE_BUILD_TYPE=Debug
make -C ./build

Execute: ./greedy_projection will generate a mesh.vtk

Use ParaView to open .vtk files.

Uncompress:

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tar xvf ParaView-5.12.0-MPI-Linux-Python3.10-x86_64.tar.gz

Execute:

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./home/jack/Programs/ParaView-5.12.0-MPI-Linux-Python3.10-x86_64/bin/paraview

Open the vtk file and open the “eye”.

Stitch Clouds

(2024-04-01)

Stitching point clouds from multiple cameras - camcalib

Resampling

MLS

PCL

(2024-05-28)

Interpolate point cloud base on Moving Least Squares. Tutorial

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mkdir -p pcl_resampling && cd $_
nvim resampling.cpp
cmake -B ./build -DCMAKE_BUILD_TYPE=Debug
make -C ./build

Python version for PCL MLS: syedjameel/MovingLeastSquares (Found when search: “code example for PCL MovingLeastSquares UpsamplingMethod” in DDG)

This repo: dtcMLOps/upsamplingCloudPCL enable specify options through input arguments.

Table of contents

Read-Write

plyfile

Read Numer of Points

Open3D

Read

Visualize

Shortcuts

Other Libs

Wis3D

PCL

Compile on Ubu 22.04 ✅

Compile on Ubu 20.04 ✅

Fix install vtk

Convert ply pcd

Read Ply file

Debug

CloudCompare

MeshLab

Remeshing

Triangulation

Ball-Pivoting

Open3D

Poisson

Open3D

Delaunay

PCL

Open3D

geogram

scipy

PyVista

Projection

Greedy Projection

Stitch Clouds

Resampling

MLS

PCL