Input file structure support

Output file structure (.pcd)

Example

Command line

Usage: ./upsampling_cloud [options] Optional arguments:-h --help         shows help messageand exits [default:false]-v --version      prints version informationand exits [default:false]--cloudfile       input cloud file [required]--search-radius   search radius value [default:0.03]--sampling-radius sampling radius value [default:0.005]--step-size       step size [default:0.005]-o --output-dir   output dir to save upsampled cloud [default:"-"] (not configured)-d --display      display upsampling in the pcl visualizer [default:false]

Dependencies

Compilation

Compile from source

git clone https://github.com/danielTobon43/upsamplingCloudPCL

cd upsamplingCloudPCL/&& mkdir build

cd build/&& cmake ../&& make

Test

cd /build./upsampling_cloud --cloudfile<path/to/cloud-file>

Note

mls.setComputeNormals(true);mls.setInputCloud(input_cloud);mls.setSearchMethod(kd_tree);mls.setSearchRadius(search_radius);mls.setUpsamplingMethod(pcl::MovingLeastSquares<pcl::PointXYZRGB, pcl::PointXYZRGB>::UpsamplingMethod::SAMPLE_LOCAL_PLANE);mls.setUpsamplingRadius(sampling_radius);mls.setUpsamplingStepSize(step_size);mls.setPolynomialOrder(pol_order);mls.setSqrGaussParam(gauss_param);// (the square of the search radius works best in general)mls.setCacheMLSResults(true);//Set whether the mls results should be stored for each point in the input cloud.mls.setNumberOfThreads(num_threats);