ryanfb / pcl-tools

Mesh processing utilities based on the Point Cloud Library

PCL Tools

Mesh processing utilities based on the Point Cloud Library: http://pointclouds.org/

• pcd2ply - convert PCD files to PLY files
• ply2pcd - convert PLY files to PCD files
• statistical_removal - statistical outliers removal, based on http://pointclouds.org/documentation/tutorials/statistical_outlier.php
• pcd_viewer - PCL PCD viewer with added -screenshot option to take a screenshot and exit
• pcdnormal2ply - convert PCD files with normals to PLY files
• normal_estimation_omp - estimate normals in a PCD using PCL's OpenMP implementation, based on http://pointclouds.org/documentation/tutorials/normal_estimation.php

Usage

cmake .
make

License (BSD)

Point Cloud Library (PCL) - www.pointclouds.org Copyright (c) 2009-2011, Willow Garage, Inc. Copyright (c) XXX, respective authors.

All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
• Neither the name of Willow Garage, Inc. nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

pcl-tools's Issues

Build issues on OS X Yosemite

I have PCL on my system, which I installed using brew install pcl.
After I clone this repo and do a make (after the cmake .), I get bunch of errors. The output log is as follows

Pranavs-MacBook-Pro:pcl-tools pranav$ make
Scanning dependencies of target PCDViewer
[ 14%] Building CXX object CMakeFiles/PCDViewer.dir/src/pcd_viewer.cpp.o
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:53:52: error: use of undeclared identifier 'sensor_msgs'
typedef pcl::visualization::PointCloudColorHandler<sensor_msgs::PointCloud2> ColorHandler;
                                                   ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:54:9: error: 'ColorHandler' (aka 'int') is not a class, namespace, or scoped enumeration
typedef ColorHandler::Ptr ColorHandlerPtr;
        ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:55:9: error: 'ColorHandler' (aka 'int') is not a class, namespace, or scoped enumeration
typedef ColorHandler::ConstPtr ColorHandlerConstPtr;
        ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:57:55: error: use of undeclared identifier 'sensor_msgs'
typedef pcl::visualization::PointCloudGeometryHandler<sensor_msgs::PointCloud2> GeometryHandler;
                                                      ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:58:9: error: 'GeometryHandler' (aka 'int') is not a class, namespace, or scoped enumeration
typedef GeometryHandler::Ptr GeometryHandlerPtr;
        ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:59:9: error: 'GeometryHandler' (aka 'int') is not a class, namespace, or scoped enumeration
typedef GeometryHandler::ConstPtr GeometryHandlerConstPtr;
        ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:76:39: error: use of undeclared identifier 'sensor_msgs'
isMultiDimensionalFeatureField (const sensor_msgs::PointField &field)
                                      ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:127:3: error: use of undeclared identifier 'sensor_msgs'
  sensor_msgs::PointCloud2::Ptr cloud = *(sensor_msgs::PointCloud2::Ptr*)cookie;
  ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:127:43: error: use of undeclared identifier 'sensor_msgs'
  sensor_msgs::PointCloud2::Ptr cloud = *(sensor_msgs::PointCloud2::Ptr*)cookie;
                                          ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:127:73: error: expected expression
  sensor_msgs::PointCloud2::Ptr cloud = *(sensor_msgs::PointCloud2::Ptr*)cookie;
                                                                        ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:309:5: error: use of undeclared identifier 'sensor_msgs'
    sensor_msgs::PointCloud2::Ptr cloud (new sensor_msgs::PointCloud2);
    ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:317:49: error: use of undeclared identifier 'cloud'
    if (pcd.read (argv[p_file_indices.at (i)], *cloud, origin, orientation, version) < 0)
                                                ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:323:9: error: use of undeclared identifier 'cloud'
    if (cloud->fields.size () == 1 && isMultiDimensionalFeatureField (cloud->fields[0]))
        ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:323:71: error: use of undeclared identifier 'cloud'
    if (cloud->fields.size () == 1 && isMultiDimensionalFeatureField (cloud->fields[0]))
                                                                      ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:329:104: error: use of undeclared identifier 'cloud'
      print_info ("[done, "); print_value ("%g", tt.toc ()); print_info (" ms : "); print_value ("%d", cloud->fields[0].count); print_info (" points]\n");
                                                                                                       ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:331:24: error: use of undeclared identifier 'cloud'
      pcl::getMinMax (*cloud, 0, cloud->fields[0].name, min_p, max_p);
                       ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:331:34: error: use of undeclared identifier 'cloud'
      pcl::getMinMax (*cloud, 0, cloud->fields[0].name, min_p, max_p);
                                 ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:332:33: error: use of undeclared identifier 'cloud'
      ph->addFeatureHistogram (*cloud, cloud->fields[0].name, cloud_name.str ());
                                ^
/Users/pranav/workspace/pcl-tools/src/pcd_viewer.cpp:332:40: error: use of undeclared identifier 'cloud'
      ph->addFeatureHistogram (*cloud, cloud->fields[0].name, cloud_name.str ());
                                       ^
fatal error: too many errors emitted, stopping now [-ferror-limit=]
20 errors generated.
make[2]: *** [CMakeFiles/PCDViewer.dir/src/pcd_viewer.cpp.o] Error 1
make[1]: *** [CMakeFiles/PCDViewer.dir/all] Error 2
make: *** [all] Error 2

How do I get rid of this issue?

A little help please?

Hello,

I'm very new on c++ programming and i'm using the PCL to read some files and change it's format, i just download your code and make the cmake but when i debug it just open a comman window and closes after that. Don't store nothing...

What do i have to do to use your function?
Hope you can help me 😄 thanks.

Is this code works for pcl-1.7.2 ubuntu 14.04

Hello,

I got error when I git clone this code and build the code by typing

cd pcl-tools
mkdir build
cd build
cmake ..
make

But got the following error:

/home/maguangshen/pcl-tools/src/pcd_viewer.cpp: In function ‘int main(int, char**)’:
/home/maguangshen/pcl-tools/src/pcd_viewer.cpp:612:56: error: expected primary-expression before ‘,’ token
p->addPointCloudPrincipalCurvatures<pcl::PointXYZ, pcl::Normal> (cloud_xyz, cloud_normals, cloud_pc, factor, pc_scale, cloud_name_normals_pc.str (), viewport);
^
/home/maguangshen/pcl-tools/src/pcd_viewer.cpp:612:69: error: expected primary-expression before ‘>’ token
p->addPointCloudPrincipalCurvatures<pcl::PointXYZ, pcl::Normal> (cloud_xyz, cloud_normals, cloud_pc, factor, pc_scale, cloud_name_normals_pc.str (), viewport);
^
/home/maguangshen/pcl-tools/src/pcd_viewer.cpp:631:36: error: expected type-specifier
color_handler.reset (new pcl::visualization::PointCloudColorHandlerLabelFieldpcl::PCLPointCloud2 (cloud, !use_optimal_l_colors));
^
make[2]: *** [CMakeFiles/pcd_viewer.dir/src/pcd_viewer.cpp.o] Error 1
make[1]: *** [CMakeFiles/pcd_viewer.dir/all] Error 2
make: *** [all] Error 2

I got this error build on macOS Sierra

/bin/sh: -c: line 0: syntax error near unexpected token (' /bin/sh: -c: line 0:/Applications/Xcode.app/Contents/Developer/Toolchains/XcodeDefault.xctoolchain/usr/bin/c++ -DDISABLE_OPENNI -DEIGEN_USE_NEW_STDVECTOR -DEIGEN_YES_I_KNOW_SPARSE_MODULE_IS_NOT_STABLE_YET -DFLANN_STATIC -DvtkDomainsChemistry_AUTOINIT="1(vtkDomainsChemistryOpenGL2)" -DvtkRenderingContext2D_AUTOINIT="1(vtkRenderingContextOpenGL2)" -DvtkRenderingCore_AUTOINIT="3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)" -DvtkRenderingFreeType_AUTOINIT="1(vtkRenderingFreeTypeFontConfig)" -DvtkRenderingVolume_AUTOINIT="1(vtkRenderingVolumeOpenGL2)" -I/usr/local/Cellar/vtk/7.0.0_4/include/vtk-7.0 -I/usr/local/include -I/System/Library/Frameworks/Python.framework/Versions/2.7/include/python2.7 -I/usr/local/Cellar/hdf5/1.8.17/include -I/usr/local/opt/szip/include -I/usr/include/libxml2 -I/usr/local/include/pcl-1.6 -I/usr/local/Cellar/eigen/3.2.10/include/eigen3 -I/usr/local/Cellar/flann/1.9.1_1/include -isysroot /Applications/Xcode.app/Contents/Developer/Platforms/MacOSX.platform/Developer/SDKs/MacOSX10.12.sdk -DDISABLE_LIBUSB-1.0 vtkDomainsChemistry_AUTOINIT=1(vtkDomainsChemistryOpenGL2) vtkRenderingContext2D_AUTOINIT=1(vtkRenderingContextOpenGL2) vtkRenderingCore_AUTOINIT=3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2) vtkRenderingFreeType_AUTOINIT=1(vtkRenderingFreeTypeFontConfig) vtkRenderingVolume_AUTOINIT=1(vtkRenderingVolumeOpenGL2) -msse4.1 -mfpmath=sse -o CMakeFiles/PCDViewer.dir/src/pcd_viewer.cpp.o -c /Users/Goragod/pcl-tools-master/src/pcd_viewer.cpp'
make[2]: *** [CMakeFiles/PCDViewer.dir/src/pcd_viewer.cpp.o] Error 2
make[1]: *** [CMakeFiles/PCDViewer.dir/all] Error 2
make: *** [all] Error 2

error in loading PLY files. sample file and code attached

Hi ,

I have posted this query in PCL users mailing list too. Sorry for cross posting.

I am trying to load PLY file and later convert to PCD files for further processing.

To load PCD files, I am using the code which is at

https://github.com/ryanfb/pcl-tools/blob/master/src/ply2pcd.cpp

It compiles without any error.

But when I try to run it, it gives me segmentation fault. It occurs while loading the PLY file.

The PLY file that I am trying to load can be downloaded from this link

https://dl.dropboxusercontent.com/u/95042389/scene001_0.ply

Could you please help me in converting this PLY file to PCD ?

Thank you so much for your time and effort.