https://github.com/mapiv/pointcloud_divider
https://github.com/mapiv/pointcloud_divider
Last synced: 10 months ago
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- Host: GitHub
- URL: https://github.com/mapiv/pointcloud_divider
- Owner: MapIV
- License: bsd-3-clause
- Created: 2023-02-28T08:25:16.000Z (about 3 years ago)
- Default Branch: master
- Last Pushed: 2024-07-09T01:45:14.000Z (almost 2 years ago)
- Last Synced: 2025-06-19T20:10:55.961Z (10 months ago)
- Language: C++
- Size: 37.1 KB
- Stars: 24
- Watchers: 2
- Forks: 9
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# pointcloud_divider
(Updated 2024/06/18)
This is a tool for processing pcd files, and it can perform the following functions:
* Dividing point clouds
* Merging point clouds
* Downsampling point clouds
* Generating metadata to efficiently handle the divided point clouds
## Supported Data Format
**Currently, only `pcl::PointXYZI` is supported. Any PCD will be loaded as `pcl::PointXYZI` .**
This tool can be used with files that have data fields other than `XYZI` (e.g., `XYZRGB`) and files that only contain `XYZ`.
* Data fields other than `XYZI` are ignored during loading.
* When loading `XYZ`-only data, the `intensity` field is assigned 0.
## Installation
```bash
$ git clone https://github.com/MapIV/pointcloud_divider.git
$ cd pointcloud_divider
$ mkdir build
$ cd build
$ cmake ..
$ make
```
## Usage
* Select directory, process all files found with `find $INPUT_DIR -name "*.pcd"`.
```bash
$ ./scripts/pointcloud_divider.sh
```
* Select individual files
```bash
$ ./scripts/divider_core.sh ...
```
| Name | Description |
|-----------------|----------------------------------------------|
| INPUT_DIR | Directory that contains all PCD files |
| PCD_0 ... PCD_N | Input PCD file name |
| OUTPUT_DIR | Output directory name |
| PREFIX | Prefix of output PCD file name |
| CONFIG | Config file ([default](config/default.yaml)) |
`INPUT_DIR`, `PCD_N`, `OUTPUT_DIR` and `CONFIG` can be specified as both **relative paths** and **absolute paths**.
NOTE: The `OUTPUT_DIR` must already exist. If it does not, an error will occur, and the process will terminate.
## Parameter
* **merge_pcds** [boolean]
All PCD files are merge into a single PCD. No divided PCD files are generated.
* **leaf_size** [double]
The leaf_size of voxel grid filter for pointcloud downsampling. The unit is meters [m].
If the value is less than or equal to 0, downsampling is skipped.
* **grid_size_[xy]** [int]
The size of the grid for dividing point clouds. The unit is meters [m].
**NOTE: Even if `merge_pcds` is true, this is used to determine the clusters for downsampling.**
Therefore, when downsampling without dividing the point cloud, users should not set an excessively large value, such as 100,000. Specifying a large grid size will attempt to load all point clouds into memory and process them at once, which will result in abnormal memory usage.
* **use_large_grid** [boolean]
Pack output PCD files in larger grid directory.
When `merge_pcds` is true, this parameter is ignored.
The large grid is fixed at 10 times the size of grid_size_[xy].
For example, if the point cloud is divided into 10m x 10m PCD files, a subdirectory like 00100_00100 will contain up to 100 PCD files.
How the point cloud is processed.
How the PCD file is named
### Parameter example
1. Dividing a single point cloud without downsampling
```yaml
use_large_grid: false
merge_pcds: false
leaf_size: -1.0 # any negative number
grid_size_x: 20
grid_size_y: 20
```
2. Downsampling and merging divided point clouds into a single file
```yaml
use_large_grid: false
merge_pcds: true
leaf_size: 0.2
grid_size_x: 20
grid_size_y: 20
```
## Metadata YAML Format
The metadata file should be named `metadata.yaml`. It contains the following fields:
- `x_resolution`: The resolution along the X-axis.
- `y_resolution`: The resolution along the Y-axis.
Additionally, the file contains entries for individual point cloud files (`.pcd` files) and their corresponding grid coordinates. The key is the file name, and the value is a list containing the X and Y coordinates of the lower-left corner of the grid cell associated with that file. The grid cell's boundaries can be calculated using the `x_resolution` and `y_resolution` values.
For example:
```yaml
x_resolution: 100.0
y_resolution: 150.0
A.pcd: [1200, 2500] # -> 1200 <= x <= 1300, 2500 <= y <= 2650
B.pcd: [1300, 2500] # -> 1300 <= x <= 1400, 2500 <= y <= 2650
C.pcd: [1200, 2650] # -> 1200 <= x <= 1300, 2650 <= y <= 2800
D.pcd: [1400, 2650] # -> 1400 <= x <= 1500, 2650 <= y <= 2800
...
```
## LICENSE
This repository is under [BSD-3-Clauses](LICENSE) license