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Upsampling method for an input cloud using mls method of PCL
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codebydant/upsamplingCloudPCL
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Upsampling method for an input cloud usingMovingLeastSquares method of PCL
| Format | Description |
|---|---|
| .pcd | Point Cloud Data file format |
| .ply | Polygon file format |
| .txt | Text file format |
| .xyz | X Y Z Text file format |
- unsampled_cloud.pcd
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]
This projects depends on the Point Cloud Library (it works with version1.8...1.12.1) and its dependencies.
| Package | Version | Description |
|---|---|---|
| VTK | 9.0.0 | Visualization toolkit |
| PCL | 1.12.1 | The Point Cloud Library (PCL) |
| Eigen | 3.7.7 | Eigen is a library of template headers for linear algebra |
| Flann | 1.9.1 | Fast Library for Approximate Nearest Neighbors |
| Boost | 1.77.0 | Provides support for linear algebra, pseudorandom number generation, multithreading |
| OpenGL | 21.2.6 | Programming interface for rendering 2D and 3D vector graphics. |
- Download source code
git clone https://github.com/danielTobon43/upsamplingCloudPCL
- Create a "build" folder at the top level of the upsamplingCloudPCL
cd upsamplingCloudPCL/&& mkdir build
- Compile with CMake
cd build/&& cmake ../&& make
cd /build./upsampling_cloud --cloudfile<path/to/cloud-file>
You can modify the parameters to obtain better resultshere
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);
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Upsampling method for an input cloud using mls method of PCL
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