memo: Lib - Points | Libraries Manipulating Point Cloud

Awesome

(2024-05-10)

zishun/awesome-geometry-processing

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

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:

Open3D

Homepage

(2024-03-27)

Compare open3d, plyfile, pyntcloud, and meshio

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

open3d read .ply file Docs

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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')

Convert 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 point cloud from a specified camera pose:

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import numpy as np
vis = o3d.visualization.VisualizerWithKeyCallback()
vis.create_window()
vis.get_render_option().background_color = np.asarray([1,1,1])
vis.add_geometry(pcd)
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()

Triangulation

open3d.geometry.TriangleMesh - Docs

Ball-Pivoting

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

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

(2024-05-13)

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

Other Libs

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

Stitch Clouds

(2024-04-01)

Stitching point clouds from multiple cameras - camcalib

Wis3D

(2024-04-07)

zju3dv/Wis3D

PCL

PCL Tutorial(2014) Jeff Delmerico
- He have projects on volumetric reconstruction

Compile Library

CPU ✅

(2024-05-11)

Reference: Docs

System:

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.

Download source.tar.gz (pcl-1.14.1)

Uncompress: tar xvf source.tar.gz
Build:
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cd pcl cmake -B ./build
Compile and install:

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make -j2
sudo make -j2 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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-- 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"

GPU ✅

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

Triangulation

Greedy Projection

Code: Docs

Change the path to .pcd file: pcl::io::loadPCDFile ("../../pcl/test/bun0.pcd", cloud_blob);
Save point cloud as .vtk file: 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: tar xvf ParaView-5.12.0-MPI-Linux-Python3.10-x86_64.tar.gz
Execute: ./home/jack/Programs/ParaView-5.12.0-MPI-Linux-Python3.10-x86_64/bin/paraview
Open the vtk file and open the “eye”.

Convert ply pcd

(2024-05-11)

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

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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
-- Installing: /home/zichen/.local/include/eigen3/Eigen/PaStiXSupport
-- Installing: /home/zichen/.local/include/eigen3/Eigen/PardisoSupport
-- Installing: /home/zichen/.local/include/eigen3/Eigen/QR
-- Installing: /home/zichen/.local/include/eigen3/Eigen/QtAlignedMalloc
-- Installing: /home/zichen/.local/include/eigen3/Eigen/SPQRSupport
-- Installing: /home/zichen/.local/include/eigen3/Eigen/SVD
-- Installing: /home/zichen/.local/include/eigen3/Eigen/Sparse
-- Installing: /home/zichen/.local/include/eigen3/Eigen/SparseCholesky
-- Installing: /home/zichen/.local/include/eigen3/Eigen/SparseCore
-- Installing: /home/zichen/.local/include/eigen3/Eigen/SparseLU
-- Installing: /home/zichen/.local/include/eigen3/Eigen/SparseQR
-- Installing: /home/zichen/.local/include/eigen3/Eigen/StdDeque
-- Installing: /home/zichen/.local/include/eigen3/Eigen/StdList
-- Installing: /home/zichen/.local/include/eigen3/Eigen/StdVector
-- Installing: /home/zichen/.local/include/eigen3/Eigen/SuperLUSupport
-- Installing: /home/zichen/.local/include/eigen3/Eigen/UmfPackSupport
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Householder
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/DenseBase.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/functors/StlFunctors.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/CwiseTernaryOp.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/products
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/products/TriangularMatrixVector_BLAS.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/Transpositions.h
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/NoAlias.h
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/util
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/util/BlasUtil.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/DenseStorage.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/ZVector
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/ZVector/Complex.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/Default
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/Default/Settings.h
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/Default/ConjHelper.h
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/AVX
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/AVX/Complex.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/SSE
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/SSE/Complex.h
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/SSE/MathFunctions.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/CUDA
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/CUDA/Complex.h
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/CUDA/MathFunctions.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/AltiVec
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/AltiVec/Complex.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/AVX512
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/AVX512/MathFunctions.h
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/AVX512/PacketMath.h
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/NEON
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/NEON/Complex.h
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/NEON/MathFunctions.h
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Core/arch/NEON/PacketMath.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/PardisoSupport
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/PardisoSupport/PardisoSupport.h
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/CholmodSupport
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/CholmodSupport/CholmodSupport.h
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Jacobi
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Jacobi/Jacobi.h
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Eigenvalues
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Eigenvalues/Tridiagonalization.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/misc
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/misc/Image.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/SuperLUSupport
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/SuperLUSupport/SuperLUSupport.h
...
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/OrderingMethods
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/OrderingMethods/Ordering.h
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-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/SparseCore
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-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/IterativeLinearSolvers
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/IterativeLinearSolvers/IncompleteCholesky.h
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-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/QR
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/QR/CompleteOrthogonalDecomposition.h
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-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/StlSupport
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/StlSupport/StdList.h
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-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/LU
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/LU/Determinant.h
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-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/LU/arch
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/LU/arch/Inverse_SSE.h
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-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/PaStiXSupport
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-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/SVD
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/SVD/JacobiSVD.h
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-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Geometry
-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/Geometry/Umeyama.h
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-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/SparseCholesky
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-- Installing: /home/zichen/.local/include/eigen3/Eigen/src/SparseCholesky/SimplicialCholesky_impl.h
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Resampling

(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.

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