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CloudCompare v2.6.1

1. ia or m e save the last spawned label E e cancel the current picking process D e eave this tool x e the last picked label stays active as long as it is not saved 67 If the user picks a new point then the process starts over and the active label will disappear e see the equivalent PDF documentation for this tool Labels 1 point label Mi With the first icon the user can pick any point and make a standard label appear Illuminance PCV 0 847458 Point 596 4242 541992 18552 710938 fm 13398 113281 This label will contain all the information available about the point e associated scalar value if a scalar field is active e point index in the cloud e local coordinates e global coordinates if any CloudCompare Version 2 6 1 user manual 88 e normals e RGBcolors Notes an alternative way to create a single point label outside of this tool is to pick a point while pressing the SHIFT key 2 points label Ly With the second icon s the user can pick two points and make a distance label appear Distance 2128 458536 12 303223 0148 2128 429199 2128 393555 16 631804 11 191406 2128 422852 This label will mainly display the distance between the two picked points as title Additionally the following values are displayed e dX algebraic distance along the X dimension e dY algebraic distance along the Y dimension e dZ algebraic distance along the Z dimension e
2. e When the plugin dialog appears see above o assign each mesh to a role A or B o then select the operation to apply union A B difference symmetric or not A B intersection An B The plugin will create a new mesh corresponding to the operation output Warning due to internal instabilities in the current version of the Cork library it may be necessary to launch the process several times in order to get it working 1 https github com cloudcompare cork CloudCompare Version 2 6 1 user manual 169 OpenGL shaders plugins qEDL Eye Dome Lighting EDL is a real time shading filter that enhances very small features on blank clouds or meshes i e it doesn t rely on any information apart from the geometry itself As qSSAO Screen Space Ambient Occlusion this is a faster alternative to normal based shading EDL in action on a blank cloud For more information about how EDL works refer to this article http www kitware com source home post 9 Note EDL requires a contiguous depth map Therefore if your cloud is too sparse at the current viewing zoom you must increase the point size so as to fill the holes CloudCompare Version 2 6 1 user manual 170 qSSAO Screen Space Ambient Occlusion S S A O is a real time shading filter that approximates ambient occlusion As qEDL Eye Dome Lighting this is a faster alternative to normal based shading SSAO in action on a
3. Menu Icon This tool is accessible via the Edit gt Scalar fields gt Convert to random RGB menu Description Converts the active scalar field of the selected entity by applying a random color scale The user must first define a number of colors that will be randomly generated CloudCompare will then apply the corresponding random color scale as a linear scale regularly sampled over the scalar field range Edit gt Scalar Fields gt Convert to random RGB colors Note this is very useful to randomly color a set of points with a classification index as scalar field for instance just set the same number of random colors as the number of classes Scalar fields gt Rename Menu Icon This tool is accessible via the Edit gt Scalar fields gt Rename menu Description Renames the active scalar field of the selected entity Edit gt Scalar Fields gt Rename dialog CloudCompare Version 2 6 1 user manual Scalar fields gt Add constant SF Menu Icon This tool is accessible via the icon in the upper main toolbar or the Edit gt Scalar fields gt Add constant SF menu Description Adds a new scalar field with a constant value i e same value for all points to the selected cloud CloudCompare will first ask for the SF name must be unique otherwise if a SF with the same name exists it will be overwritten Then CloudCompare will ask for the constant SF value gt Add constant valu
4. Shift click on a point triangle Spawn a 2D label on the clicked element F1 Show help F2 Rename selected entity in DB tree F3 Toggle object centered perspective active 3D view F4 Toggle viewer based perspective active 3D view F5 Refresh display active 3D view F6 Toggle sun light active 3D view F7 Toggle custom light active 3D view FS Toggle Console display F11 Toggle full screen mode Ctrl F3 New 3D view Ctrl F4 Close active 3D view 0 Set default BACK view to active 3D display 2 Set default BOTTOM view to active 3D display 4 Set default LEFT SIDE view to active 3D display 5 Set default FRONT view to active 3D display 6 Set default RIGHT SIDE view to active 3D display CloudCompare octree The octree structure is used throughout CloudCompare in particular all processing methods involving spatial considerations use it Note that the particular structure used in CloudCompare is very efficient for nearest neighbor extraction but not for display purposes L O D approaches etc CloudCompare Version 2 6 1 user manual 178 179 Structure An octree corresponds to the recursive partition of a cubical volume of space From an initial box octree cells are formed by dividing cubes into 8 equivalent sub cubes By default the octree subdivision is initiated from the square bounding box of a cloud but it can also be computed from an arbitrary cube is s
5. Point cloud Vs Mesh Regarding its particular history ClioudCompare considers almost all 3D entities as point clouds Typically a triangular mesh is only a point cloud the mesh vertices with an associated topology triplets of connected points corresponding to each triangle This explains that meshes have always either a point cloud named vertices as sibling or parent depending on the way they have been loaded or generated And while CloudCompare will let the user apply some tools directly on a mesh structure i e triangles some tools can only be applied to the mesh vertices It may be a bit disturbing at first but we don t want the user to ignore this CloudCompare is mainly a point cloud processing software Of course as CloudCompare is meant to do change detection e g subsidence monitoring and as a triangular mesh is a very common way to represent a reference shape e g a building it is very useful and it couldn t be ignored Nevertheless it remains a secondary entity especially as CloudCompare is able to compare two point clouds directly without the need to generate an intermediary mesh The main reasons for this are CloudCompare Version 2 6 1 user manual e meshes are generally very hard to generate properly on real life scenes especially when scanned with a laser scanner noise variable density etc e and as ALS TLS point clouds are generally very dense and accurate we already have all the inform
6. X 0 00319505 Box center Y 0 01875 Z 0 Info Object ID 5 Children 1 Current Display 3D View 1 Faces 10 474 Wireframe Stippling Close Closes the active 3D view Shortcut CTRL F4 Close All Closes all 3D views Tile Share the display space between all the 3D views as tiles Cascade Rearrange all the 3D views in a cascade way Next Activate the next 3D view order of creation Previous Activate the previous 3D view order of creation CloudCompare Version 2 6 1 user manual 147 148 Help menu Help Menu This method is accessible via the Help gt Help menu Alternatively this method can be called with the F1 shortcut Description In a perfect world this method should display the documentation of CloudCompare However due to the ever changing nature of CloudCompare it appeared difficult to ship CloudCompare with a standalone documentation Therefore for now a simple dialog invites the user to go the http www cloudcompare org doc address About Menu This method is accessible via the Help gt About menu Description This method displays a dialog with the current version information CloudCompareY ROD CloudCompare V2 http wwww cloudcompare org License GNU GPL General Public Licence Version 2 6 1 beta Windows 64 bits Note the current version is also displayed in the application title bar since
7. 175 CROP Crops all loaded clouds inside or outside a given box Xmin Ymin Zmin Xmax Ymax Zmax Optional settings are e OUTSIDE if defined only the points falling outside the input box will be kept instead of inside by default Notes e result is automatically saved by default see the AUTO_SAVE command to change this e each cloud will be replaced in memory by its cropped version CROP2D ortho_dim n number of Crops all loaded clouds inside or outisde a given 2D polyline Cropping is done in a plane defined by its vertices X1 Y1 X2 Y2 Xn Yn orthogonal dimension X Y or Z i e coordinates along this dimension will be ignored Optional settings are e OUTSIDE if defined only the points falling outside the input polyline will be kept instead of inside by default Note e result is automatically saved by default see the AUTO_SAVE command to change this e each cloud will be replaced in memory by its cropped version CBANDING dim freq Applies color banding to all loaded entities clouds and meshes The user must specify the dimension dim X Y or Z and the frequency in Hz as an integer Note e result is automatically saved by default see the AUTO_SAVE command to change this C_EXPORT_FMT format Specifies the default output format for clouds Format can be one of the following ASC BIN PLY LAS E57 VTK PCD SOI PN PV Optional settings are e PREC precision to specify t
8. File gt Close all htto www cloudcompare org doc wiki index php title File 3dconnexion logo jpg menu Description Closes all loaded entity Note CloudCompare will ask the user to confirm this action if entities are loaded Quit Menu This method is accessible via the File gt Quit http www cloudcompare org doc wiki index php title File 3dconnexion logo jog menu Description Quits the application Shortcut ALT F4 Note CloudCompare will ask the user to confirm this action if entities are loaded CloudCompare Version 2 6 1 user manual 40 Edit menu Clone Menu Icon A This tool is accessible via the Edit gt Clone menu or via the YY icon in the upper main toolbar Description Clones the selected entities All data are duplicated Merge Menu Icon This tool is accessible via the Edit gt Merge menu or via the icon in the upper main toolbar Description Merges two or more entities You can currently merge clouds or meshes Merging clouds Warning when merging clouds the original clouds will be deleted you may have to save or clone them first Merging meshes When merging meshes the original meshes are not modified deleted CC will create a new composite mesh structure Sub meshes are also created for each input mesh so that the original structure is preserved useful when saving the result as an OBJ file DB Tree 4 v Knee joint Y amp Femur Y
9. Name a Visible OK Show name i H Colors RGB x p X 44 5661 Box dimensions Y 20 8388 y Z 34 3445 X 14 6517 Box center Y 29 6812 v Console 19 04 58 Register Theorical overlap 50 19 05 28 VBO VBO s re initialized for cloud scan002 Cloud 0 segmented registered registered 4 52 Mb 100 00 of points could be loaded lt Fine registration ICP result Distances gt Cloud Cloud dist cloud to cloud distance Menu Icon This tool is accessible via the 2 icon in the main upper toolbar or the Tools gt Distances gt Cloud Cloud dist menu Description This tool computes the distances between two clouds Procedure To launch this tool the user must select two clouds and only two Choosing the cloud roles Before displaying the tool dialog CloudCompare will ask you to define the roles of each cloud e the Compared cloud is the one on which distances will be computed CloudCompare will compute the distances of each of its points relatively to the reference cloud see below The generated scalar field will be hosted by this cloud e the Reference cloud is the cloud that will be used as reference i e the distances will be computed relatively to its points If possible this cloud should have the widest extents and the highest density otherwise a ocal modelling strategy should be used see below CloudCompare Version 2 6 1 user manual 106 i Choose rol
10. Otherwise the descriptors corresponding to the first class will be displayed in blue and the others in red CANUPO training resu U e You can manually edit the boundary left dick select or add vertex long press move right dick remove vertex Scales 0 50 40 30 20 10 05 reset boundary statistics points size 1 From this point several actions may be realized by the user e you can decrease the number of scales used to train the classifier by default the biggest scales are removed first This lets you tune the classifier so as to use the less scales as possible with the lowest scales radii so as to minimize the computation time for descriptors while keeping a sufficiently discriminating behavior e you can also edit the boundary position The vertices of the boundary line can be moved right click keep the button pressed new vertices can be added by clicking anywhere in which case the vertex will be added to the nearest line s end or by click exactly on the line in which case a new vertex will be created on the line near the mouse cursor and vertices can be removed left click only taken into account if the line has more than 2 vertices At any time the boundary can be reset to its original state by clicking on the reset boundary button Once ready you can save the classifier in a prm file This file will be used as input for the Classify method see below Don t hesi
11. gt Merge method of CloudCompare Try to get an exhaustive sampling of the various cases that can be encountered for each class Make sure also that all subsets have roughly the same number of points or at least that the relative quantities are representative of their occurrence in your data CloudCompare Version 2 6 1 user manual Class 1 vegetation Class 2 ground Tip make sure that both have unique and clear names so as to differentiate them during the rest of the procedure type F2 to rename the selected cloud Train a classifier Once you have the two clouds representing each class you can call the Train classifier method of the plugin Plugins gt qCANUPO gt Train classifier CANUPO Training Data Role Cloud Class label das 1 Scales ramp Min 0 050000 Step 0 050000 Max 0 100000 list 0 050 10 20 30 40 5 Advanced Ossetian parameter Max core points 2000 O Use original doud for descriptors total ID 19 E Show dassifier behavior on total ID 19 Select the right clouds in the class 1 and class 2 combo boxes Then enter the range of scales you wish to use for the multi scale descriptors see the original canupo tutorial and article for more information on how to choose the right values You can either input a regular ramp the scale values will be regularly sampled inside an interval or a custom list of scales separated by a space character e g
12. necessary Octree gt Resample Menu This tool is accessible via the Edit gt Octree gt Resample menu Description Resamples a cloud by replacing all the points inside each cell of the octree at a given level of subdivision by their gravity center The level of subdivision at which the process is applied is chosen to roughly match the expected number of output points specified by the user Edit gt Octree gt Resample example CloudCompare Version 2 6 1 user manual 61 62 Warning this method creates a new cloud with points that are not necessarily at the same position in space as the input cloud points Therefore it is not possible to keep the various features attached to the input points color normal scalar values etc If you want to keep those features as well as the points original positions you should consider using the Subsample method instead Mesh gt Delaunay 2 5D XY plane Menu This tool is accessible via the Edit gt Mesh gt Delaunay 2 5D XY plane menu Description Computes a Delaunay 2 5D triangulation on a point cloud The point cloud is simply projected in 2D on the XY plane Then the corresponding 2D points are triangulated and the mesh structure is applied to the 3D points By default the 2D Delaunay triangulation is done on the cloud convex hull Therefore CloudCompare will ask the user to specify a maximum length for the triangle edges This allows to
13. or start a new polyline the first time e right click stop the current polyline edition As with the Segment Interactive Segmentation Tool once a polyline is started the next edge will follow the mouse pointer If the user clicks on the left mouse button the corresponding end vertex will be created and the edge will be fixed A new edge will be created from there However if the user clicks on the right mouse button the floating edge disappears and the current polyline edition is stopped A new left click will start a new polyline This way several polylines can be created in a row CloudCompare Version 2 6 1 user manual 124 Once done a second click on the k icon will disable the polyline edition mode All other tools will then be accessible Notes e during polyline edition an arrow appears at the end tip This is a way to recall that the vertex order may be important for some applications e g when generating orthogonal sections along a path and then exporting the resulting profiles to the Mascaret format for instance e you can t cancel the last created polyline but once you quit the polyline edition mode it s possible to select a polyline and then delete it with the DEL key Polyline import An alternative to polyline drawing is to import existing polylines To do this simply click on the a icon This will open a dialog with all the polylines already loaded in the DB tree Select an entity P
14. scalar field e height std dev standard deviation of the height values of the points falling in each cell e height range range of the height values of the points falling in each cell Raster The grid can be exported as a geotiff raster file see the Raster geotiff button in the Export tab in the bottom left corner Note CloudCompare relies on GDAL for this operation Image The grid can be exported as a simple image file Use the Image button see the Image button in the Export tab in the bottom left corner ASCII matrix The grid can be exported as an array matrix of height values saved as an ASCII file see the Matrix text file button in the Export tab in the bottom left corner This file should be easily imported in Excel for Matlab for instance There s no file header The number of rows is simply the number of lines in the file and the number of columns corresponds to the number of values found on each line should always be the same Mesh The grid can be exported as a 2 5D mesh see the Mesh button in the Export tab in the bottom left corner Contour plot generation Since version 2 6 1 the Rasterize tool can now be used to generate contour plots The parameters for this sub tool are all regrouped in the Contour plot tab in the bottom left part 35 http en wikipedia org wiki GDAL CloudCompare Version 2 6 1 user manual 97 Contour plot Start height 38 730000 Step 1
15. 00 0 00 x Scale 1 00000000 CloudCompare will suggest the user to shift the cloud if its original coordinates are too big It is strongly advised to shift scale the entities in this case But why This is due to the fact that both CloudCompare and OpenGL works with 32 bits float values This allows an increase of speed and a 50 memory gain compared to 64 bits values However the 32 bits representation has a limited resolution accuracy Without entering into too much details here we can say that the bigger the number is the less decimals can be stored As a rule of thumb the relative precision i e the smallest quantity that can be represented relatively to the maximal value is roughly between 10 and 10 This is generally more than sufficient for real life point clouds expressed in the scanner coordinate system e g for a 100 meters range scan the data representation precision will be around 10 or 10 m 1 to 10 microns However if the cloud is expressed in a geo referenced coordinate system the point coordinates can be very big typically about 10 In this case the data representation precision rises up to 1 or 10 cm This is why it is very important to shift the points when loading the file in CloudCompare Otherwise the original precision will be lost CloudCompare stores the shift and scale values as meta data and tries to keep them all along the entity life Eventually when the user save
16. 20 Display modes 3D entities can be displayed in one or multiple 3D views Several display modes can be set in each 3D view Main display modes The orthographic and perspective modes can be enabled at any time thanks to the Set current view mode icon in the left toolbar L Orthographic projection amp Object centered perspective 4 Viewer based perspective L Orthographic view This is the default viewing mode It is a parallel projection i e parallel lines never cross See http en wikipedia org wiki Orthographic projection for a bit of theory Perspective OFF Note in this mode a white scale is displayed in the bottom right corner of the 3D view Its actual dimension in the current coordinate system is displayed below Perspective view The perspective projection consists in projecting a 3D scene on a 2D plane as if it was seen by the human eye or a single camera The main parameter for this mode is the field of view f o v It can be changed via the Camera settings See http en wikipedia org wiki Perspective 28graphical 29 for a bit of theory CloudCompare Version 2 6 1 user manual 21 Centered perspective ON Notes in this mode no scale is displayed as the width depends on the actual depth of each pixel There are two types of perspective modes in CloudCompare k Object centered In the object centered perspective mode the object rotates when the user
17. Archaeology Research Group AARG News The article can be found here http www cloudcompare org pdf AARGnews44 Scollar GiradeauMontaut pdf Generating orhtophotos In order to generate very easily a set of files compliant with the dedicated importation tool in CloudCompare in order to generate orthophotos just follow the AirPhoto SE tutorial about Orthophotos http www uni koeln de al001 airphotose files hs1500 htm 53 http www uni koeln de al001 scollar html http www uni koeln de al001 airphotose html gt http phototour cs washington edu bundler a6 http www univie ac at aarg php cms aarg news CloudCompare Version 2 6 1 user manual 180
18. Bundler OUT file for instance or from some E57 files as well They can also be manually created with the Sensors Camera Sensor Create method V fo Camera 1 F DPP_0080 jpg V Camera 2 V Camera 3 P S see also the NE Calibrated picture entity below E Label Clouds can be associated to Labels See the Point picking gt Labels section for more information J Keypoints W 2D label Point 4402 Y 2D label Vector 7678 2049 Y 2D label Triplet 7316 1476 4427 Other entities a Group A simple group of other entities can be used to classify or regroup entities Groups can be created by right clicking on the DB tree see Context menu 5 Image Images can be loaded from standard image file formats jpg bmp png etc via the standard File gt Open mechanism They can only be displayed in the 3D view as a 2D overlay matching the 3D view extents The user can change their transparency so as to visualize the 3D scene behind ME Calibrated picture Calibrated pictures are standard images that are associated to a Camera sensor Therefore it is possible to set the camera parameters and position of the current 3D view to match the sensor parameters This way the calibrated picture can be displayed above the 3D scene with a customizable transparency Calibrated pictures can be loaded from Bundler OUT files or from E57 files They can also be loaded
19. C2C absolute distances 2D1 2 Triangulation r 500 2586 474854 2263 165024 1939 856395 1616 547166 1293 237937 969 928708 646 619479 323 310250 0 001021 I 15000 Cloud to cloud distances example of result CloudCompare Version 2 6 1 user manual 110 Distances gt Cloud Mesh dist cloud to mesh distance Menu Icon This tool is accessible via the ta icon in the main upper toolbar or the Tools gt Distances gt Cloud Mesh dist menu Description This tool computes the distances between a cloud and a mesh Procedure To launch this tool you ll have to select either one cloud and one mesh or two meshes Choosing the mesh roles If you have selected one cloud and one mesh the mesh will automatically be used as reference If you have selected two meshes CloudCompare will ask you to define the roles of each mesh e Compared mesh CloudCompare will in fact only consider its vertices and compute the distances for each of them relatively to the reference mesh The generated scalar field will be hosted by this mesh well its vertices in fact e the Reference mesh will be used as reference i e the distances will be computed relatively to its polygons If possible this mesh should have the widest extents Warning if you want to compare two meshes and the compared mesh vertices are too sparse you should consider using the Mesh gt Sample points tool first in order to sample a lot of points on
20. Contour plot 5054800_c Cloud step 5 Y x Contour line z 43 73 1 Contour line z 43 73 2 Y Contour line z 48 73 1 Contour line z 48 73 2 hk Contour line z 48 73 3 h Contour line z 53 73 1 Contour line z 53 73 2 fh Contour line z 53 73 3 A Contour line z 53 73 4 Contour line z 53 73 5 Contour line z 58 73 1 Contour line z 58 73 2 Ba Se Se OST E lt IS el a E vr El Ss Camera Link Properties Property State Value Name Contour plot 5054800_c Clo Show name in3D X 998 Box dimensions Y 998 Z 195 SADA nan 2 Console 18 25 03 Rasterize 98 iso lines generated 45 levels 18 25 18 Rasterize Current raster grid size 500 x 500 heights 39 1112 259 917 18 25 18 VBO VBO s re initialized for cloud 5054800_c Cloud raster 2 3 58 Mb 100 00 of points could be loaded 112 25 201 Rasterizel 98 isn lines nenerated 45 levels 4 mule e the group of contour lines can be exported as a Shape file to be imported in a GIS software for instance e ifthe user has forgotten to export the contour lines when closing the tool CloudCompare will issue a warning message and will ask for confirmation Projection gt Contour plot to mesh Menu This tool is accessible via the Tools gt Projection gt Contour plot polylines to mesh menu Description This t
21. Description Computes the range of all points of any cloud relatively to the selected sensor The user can specify whether CloudCompare should output the squared ranges or the non squared ones 58841 89 52748 83 46655 77 40562 71 34469 64 28376 58 22283 52 16190 46 10097 40 K XKA AA gt gt a Edit gt Sensor gt Compute ranges output example Sensors gt Compute scattering angles Menu This tool is accessible via the Edit gt Senors gt Compute scattering angles menu Description Computes the scattering angle of all points of any cloud with normals relatively to the selected sensor The user can specify whether CloudCompare should output the angles in radians or degrees Scattering angles deg 90 00 15000 Edit gt Sensor gt Scattering angles output example CloudCompare Version 2 6 1 user manual 74 75 Scalar fields gt Show histogram Menu Icon This tool is accessible via the Edit gt Scalar fields gt Show histogram menu or the da icon in the upper main toolbar Description Shows the histogram of the active scalar field of the currently selected entity iW E Histogram chantier_jour Scattering angles deg 222977 values 256 classes 40 50 60 70 Scattering angles deg Edit gt Scalar Fields gt Show histogram dialog Interactions e the number of classes bins of the histogram can be changed with the mouse wheel e th
22. Tools gt Fit gt Plane menu Description This tool fits a plane on a point cloud and outputs various pieces of information such as the fitting RMS the plane normal and even the geological dip and dip direction values Procedure Select one or several point clouds then launch this tool For each cloud CloudCompare will fit a plane primitive the extents of the plane will be deduced automatically CloudCompare Version 2 6 1 user manual 128 C2M signed distances 0 176969 3 681137 7 185305 Fitted plane distances between the original cloud and the fitted plane In the console the following pieces of information will be output e plane fitting RMS e plane normal vector with a positive Z coordinate by default e dip and dip direction e a 4x4x transformation matrix that would make this plane horizontal see the Edit gt Apply Transformation method to use it for instance e the fitted plane is added to the DB tree as a child of the cloud e the plane primitive is a kind of triangular mesh Therefore you can select both the cloud and the fitted plane and compute the distance between them with Tools gt Distances gt Cloud Mesh dist cloud to mesh distance Fit gt Sohere Menu This tool is accessible via the Tools gt Fit gt Sphere menu Description This tool fits a sphere on a cloud Procedure Select one or several point clouds then launch this tool CloudCompa
23. aceasta een eS 87 POIMtblIs tp atada 89 At o O 90 Projection UNO lunar a A eds 92 Projection RASTE d 7d e err A E E 93 Projection gt Contour potto Mesh 98 Projection S Export coordinatels to SA isa A rad 99 Registration gt Match DOUNCING DOX centers oocccccnccnncnocnnnnnncnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnrnnnnnnnnnnnnnnnnnnnanens 99 Registration Match scales tutti ad datado 100 Registration gt Align point pairs PICKING ccocooocccnnnonoccnnnnnnnaconononaninonnnnnaccnnnonanonnnnonanonnnnonanonnnnonanonnnonancnnnnnnanos 101 Registration gt Fine registration ICP cccccccccsssecccecessecccceeeseccccceusecceceueeecceseueecesseueeceeseeeeecesseegesesseueeesessannesss 104 Distances gt Cloud Cloud dist cloud to cloud AiStance ccccccccnncnccnnnnnnnnanancncnonanananononononononanacnccnnncnnnnnnnnonononannn 106 Distances gt Cloud Mesh dist cloud to mesh distance cccccccccnnccccnnnnnnnnananccanonanananonononononnnnanacnnnnncnnnnnnnnonononanan 110 Distances Coses t PONTS PL litio 112 Statistics gt Local Statistical Osa auuenonsdutanivdaetuacanndeiundayauuvaanaleeuadecertaaenucethadenamimcessGuriiae 113 Statistics gt Comp te Stat ParaMs sirio aii 116 Segmentation gt Label Connected Components eat a E T E ANS ADT 117 SERMON CALION gt CFOSS SECON aa a E Aa 118 segmentation gt EXCESO Cc ON aa ie 122 O cae aetia ne 127 gl ce cake e A 128 FIC 2D POW BO Mai Ada 129 REAO IET
24. are visually satisfied with the result you can export the visible triangles as a new mesh e use the Edit gt Scalar fields gt Filter by Value method e the min and max values should be already set as the one you have interactively set e confirm to create anew mesh e you can drop the density scalar field at least on the output mesh with Edit gt Scalar Fields gt Delete DB Tree oP a F Gravels bin D 1000 CC data BIN Density Y O Gravels Cloud 0 E a a Y Mesh Gravels Cloud 0 level 8 MIO vertices Camera Link Properties Property State Value 7i Current Plue gt Green gt Yellow gt Re y a Steps 256 E 8 461253 Visible Y splay para 8 035044 Display ranges Parameters 6 75641715 displayed 10 166088 10 2 3 00000000 saturation 10 16608810 pees by scalar val AAA Min b 75641727 Max 10 16608810 15 27 05 ComputeCloudNormals Timing 5 33 s 15 27 05 VEO VBO s re initialized for cloud Gravels Cloud 0 5 40 Mb 100 00 of paints could be loaded CloudCompare Version 2 6 1 user manual 156 qRansacSD RANSAC Shape Detection Introduction qRansacSD stands for RANSAC Shape Detection and is a simple interface to the automatic shape detection algorithm 19 et al of Bonn university proposed by Ruwen Schnabe This is exactly the same implementation as the library shared by the authors on their websi
25. as the original algorithm This grid is deduced from the octree structure By selecting on octree level you define how small is the minimum gap between two components the corresponding cell size is displayed next to the level The higher the level is and the smaller the gap is so the more components you might get e Min points per component components with less than the specified number of points will be ignored useful to remove the smallest components e random colors if checked a random color will be assigned to each component warning any existing colors will be overwritten On completion CloudCompare will create as many clouds as components Each cloud is a proper subset of the original cloud with the same features scalar fields normals colors if random colors are not generated etc Raw cloud left and extracted connected components right Note all components will be sorted in a new group name of the input cloud CCs They will be sorted from the biggest to the smallest in terms of number of points CloudCompare Version 2 6 1 user manual 118 Segmentation gt Cross Section Menu Icon This tool is accessible via the 2 icon the upper main toolbar or the Tools gt Segmentation gt Cross Section menu Description This tool allows the user to define a clipping box interactively or not around a given cloud The box extents and orientation can be adjusted in order to segment the cloud for inst
26. below e The profile is described as a series of radius height couples The height values must be either constantly increasing or constantly decreasing Eventually the user can specify the revolution axis in 3D X Y or Z and whether the height values are expressed relatively to the profile origin i e Z3 Zc H or if they are absolute i e z3p H 0 http en wikipedia org wiki Surface of revolution CloudCompare Version 2 6 1 user manual Computing radial distances S To compute the radial distances between a cloud and the profile i e the Surface of Revolution the user must select both the cloud and the profile at the same time keep the CTRL key pressed while selecting both entities in the DB tree No dialog is displayed apart from a progress bar a On completion the tool will automatically suggest to launch the Map Generation tool see below Map Generation el To launch the map generation tool the user must select both the cloud and the profile at the same time keep the CTRL key pressed while selecting both entities in the DB tree The cloud must already have a scalar field with radial distances see above Most of the parameters are straightforward You ll have to click on the Apply button to make the map appear or to refresh it if you change some parameters T 20 distare map tSurtace of ROMO Projection Corecal Lawtert Sora rs 0 50 Mo Cipire Gareratri Measures Parrhticn
27. cite the author before citing CloudCompare which is also very good but less important in this particular case CloudCompare simply adds a dialog to set some parameters see below and a seamless integration in its own workflow Usage Notes e touse this plugin the user must select a point cloud with normals e to obtain good results the normals of the cloud must be clean i e the orientation of all normals must be correct consistent and not too noisy e by default the algorithm should be applied on closed 3D shapes but you can use the output density information to get a valid mesh even on an open mesh typically such as terrains see below The plugin dialog looks like this 47 htto www cs hu edu misha 48 http www cs jhu edu misha Code PoissonRecon CloudCompare Version 2 6 1 user manual Poisson Surface Reconstruction Octree depth Advanced samples per node 1 00 Full depth 5 point weight Densty output density as SF Density is useful to reduce the output mesh extents to Fit as much as possible to the input point cloud Use the SF aun aigp ayed value until the remaining part of the mesh suits your needs Then export this mesh as a new one with Edit gt Scalar fields gt Alter by Value The parameters are relatively clear and their precise definition can be found on the original library page The main parameter is octree depth The deeper i e greater the finer the result wil
28. color Second color C Banding Frequency direction Edit gt Colors gt Height ramp This method let the user apply a linear gradient either the default one see below or any gradient defined by two colors or a cycling HSV map Banding see below For the latter the user must specify the number of repetitions And in all cases the user must choose the main direction for the height ramp X Y or Z Left default height ramp right cycling HSV banding ramp Warning any previous color field if any will be overwritten CloudCompare Version 2 6 1 user manual 55 56 Colors gt Convert to Scalar Field Menu This tool is accessible via the Edit gt Colors gt Convert to Scalar field menu Description Converts the current RGB color field to one or several scalar fields IJ R Channel Z G Channel Z B Channel Z Composite R G 8 3 ok J caa Edit gt Colors gt Convert to SF dialog The user can choose to export the Red Green Blue and Composite R G B 3 color fields as scalar fields one for each Colors gt Interpolate from another entity Menu This tool is accessible via the Edit gt Colors gt Interpolate from another entity menu Description Interpolates the color of another entity in order to color the points vertices of the selected entity In the current implementation for each point of the selected cloud or the selected mesh vertices this
29. contour s on longer edges visual debug mode cance The user must set e the flat dimension it should be automatically setup based on the current section dimensions e the maximum edge length the contour is extracted thanks to a concave hull algorithm The only parameter for this tool is the maximum size of a single edge if possible The algorithm starts from the convex hull of the slice points As long as an edge is longer than the specified max length the algorithm will try to split it by using another point in the vicinity This way the contour will fit the cloud more tightly So the smaller the parameter is the tighter the contour will be Note that this maximum length can t be guaranteed as only the input points are used Additional options are e project slice s points on their best fit plane the contour extraction is done in 2D Instead of using the slice flat dimension as projection plane CloudCompare can project the points on their best fit plane it can be sometimes better for very thick slices e split contour s on longer edges CloudCompare can split the contour every time an edge is longer than the maximum edge length parameter In this case multiple non closed polylines can be generated instead of a single closed contour e visual debug mode for debug use can be used to understand why the algorithm doesn t output what one would expect CloudCompare Version 2 6 1 user manu
30. current Aligned cloud pose anytime with the reset button Advanced parameters This tool can also determine the best scale factor between the two point sets To allow the optimization of the scale parameter simply uncheck the fixed scale checkbox This can be very useful if the two clouds have different scales and you don t know the scale factor between them otherwise you could use either the Edit gt Multiply Scale tool Warning if the scale is not fixed i e different from 1 then the 4x4 transformation matrix issued on completion of this tool will be affine Typically the Edit gt Apply transformation tool will fail to invert it Registration gt Fine registration ICP Menu Icon This tool is accessible via the icon in the main upper toolbar or via the Tool gt Fine Registration ICP menu Description This tool can automatically finely registers two entities Main assumptions are e both clouds are already roughly registered see the other Alignment and Registration methods e both clouds should represent the same object or at least have the same shape at least on their overlapping parts Procedure Select the two clouds or meshes that you want to register and start this tool We use the original ICP algorithm denominations here first you have to choose which entity will be the Data one Registered will eventually move and which one will be the Model one Reference won t move You can the default
31. dXY distance in the XY plane e dXZ distance in the XZ plane e dZY distance in the ZY plane 3 points label ae ol With the third icon the user can pick three points and make an area label appear Area 2107973 500000 ndex A 3475 EEJ 4898447 953907 le 133333 fkg 7202750 731628 index C 197251 Bee 3732664 579328 0 184999 0 217080 0 958463 This label will display the area of the triangle formed by the three picked points Additionally the following values are displayed e the indexes of the 3 points e the length of the 3 edges e the 3 angles e the vector normal to this triangle plane 2D area label With the fourth icon LI the user can draw a rectangle anywhere on the screen so as to create a 2D area label Distance 2128 458536 1 48 2128 429199 16 631804 11 191406 EFAS 2123 422352 CloudCompare Version 2 6 1 user manual 89 Simply click and hold the mouse button to define the first corner then move the mouse cursor and release the button to define the opposite corner Once the button is released CloudCompare will prompt for a title Eventually the 2D area label will appear Note this kind of label is useful to define zones of interest in a 3D view seen in a particular point of view Therefore they are only visible in this point of view Similarly to a oY Viewport entity the associated viewport can be restored anytime by clicking on the Apply button in the label prop
32. dialog Camera sensor Sensors gt Ground Based Lidar gt Create Menu This tool is accessible via the Edit gt Sensors gt Ground Based Laser gt Create menu Description Creates a Ground Based Lidar TLS sensor entity attached to the selected cloud rotation order yaw then pitch default v Position Orientation Angular steps Yaw degrees 0 502614 Pitch degrees 0 067445 Edit gt Sensor gt Create gt GBL sensor dialog The user must specify the main intrinsic and extrinsic parameters of the sensor absolute position and orientation angular steps etc Note since version 2 5 6 angles are now expressed in degrees and aircraft denominations yaw pitch are used so as to make things clearer Clicking on the OK button will create a new sensor object A depth map is automatically generated and displayed by CloudCompare so as to let the user visually check the parameters CloudCompare Version 2 6 1 user manual GBL sensor depth map By default the sensor object is added as a child of the selected cloud in the DB tree It is also visible in the 3D view warning you may have to change its drawing scale see the sensor object properties to view it correctly Cc CloudCompare v2 5 6 beta 64 bits 3D View 1 era mesem es nT N File Edit Tools Display Plugins 3DViews Help a x GESCHELHX SHO AWE Oy Ml eS FO 92K me Remove filter Blur shader iS y E t S N C SO
33. dist cloud to cloud distance 2 tool TA e for cloud model comparison use the Distances gt Cloud Mesh dist cloud to mesh distance tool Warning in this case the model will always be considered as the Reference by CloudCompare If you want to use the model as the compared entity you ll have either to select its vertices if they are dense enough or sample points on the model as suggested at the end of this tutorial Eventually you ll have to perform a cloud cloud comparison see above e for model model comparison use the Distances gt Cloud Mesh dist cloud to mesh distance tool as well Warning in this case CloudCompare will only use the vertices of the Compared mesh If they are too sparse you can also sample points on the model as suggested at the end of this tutorial Note depending on the size of the entities and their spatial extents this process can take from a few seconds to a much longer time To optimize the process try to avoid as much as possible large non overlapping areas you can manually segment the entities with the Segment Interactive Segmentation Tool r Once the computation is done the color scale can be adjusted in the Properties of the compared entity so as to display the results in a better way CloudCompare Version 2 6 1 user manual 34 t3 CloudCompare 3D View 1 B ji y File Edit Tools Display Plugins 3D Yiews Help
34. distance between each compared point and its nearest reference point along each dimensions i e this corresponds to the 3 components of the deviation vector Local modelling see the Distances Computation section for additional information When no local model is used the cloud to cloud distance is simply the nearest neighbor distance using a kind of Hausdorff distance algorithm The issue is that the nearest neighbor is not necessarily rarely in fact the actual nearest point on the surface represented by the cloud This is especially true if the reference cloud has a low density or has big holes In this case it can be a good idea to use a Local modelling strategy which consists in computing a local model around the nearest point so as to approximate the real surface and get a better estimation of the real distance The local model can be computed e either on a given number of neighbors this is generally faster but it s only valid for clouds with a constant density e or by default in a spherical neighborhood its radius should typically depend on the details you expect to catch and on the cloud noise Precise results General parameters Local modeling Local model Height Function a Points KNN O Radius Sphere 47 137715 use the same model For all its points Ol Cancel There are currently three types of local models All 3 models are based on the least square best fitting plane that goe
35. e the one with the smaller scale Let s call the resulting distance Dmin e compute the scaling factor St Dmax Dmin CloudCompare Version 2 6 1 user manual e eventually apply this scaling factor on the smaller entity with the Edit gt Multiply Scale tool use the S factor for all dimensions Note conversely you can scale down the model with the larger scale by applying the inverse factor on it Roughly registering the entities You can skip this step if the two models are already roughly registered e first if the entities are far apart select both of them and use the Tools gt Registration gt Match bounding box centers method to make their centers of gravity match e then select one of the two entities ideally the one that should move e eventually with the help of Translate Rotate Interactive Transformation Tool f you can interactively rotate and translate the entity so as to roughly superimpose both entities RA Fat Tous Oor Plugs D ees Heb eM T _alfrapmects_envshadeZS4 pty SM E mesh TC vertices part hry 09 53 12 Packed PFMIH4G4 110 40 7695 49 953 12 10 23 50 GraphicalrareformationTodl Appled transformation 10 23 50 0 9551 78924561 0 066046109927 0271145164987 0 091005508960 0 1 4033060504 0 277609248323 0 000000000000 0 909628612995 0 120259956061 000000000000 0 952154815197 0 000000000000 JO X ERAS EE slol x
36. each cloud e result is automatically saved by default see the AUTO_SAVE command to change this APPROX_DENSITY computes approximate density on the currently opened generated cloud s Optional setting e TYPE density_type to specify the type of density to compute density_type can be KNN nearest neighbors count SURFACE surface density or VOLUME volume density Notes e anewscalar field is created on each cloud e result is automatically saved ROUGH kernel size computes roughness with a given kernel size on the currently opened generated cloud s Notes e anew scalar field is created on each cloud e result is automatically saved by default see the AUTO_SAVE command to change this CURV type kernel size computes local curvature with a given kernel size on the currently opened generated cloud s type can be MEAN or GAUSS Notes e anew scalar field is created on each cloud e result is automatically saved by default see the AUTO_SAVE command to change this SF_GRAD euclidian computes gradient of the active scalar field or the first one if none is active on the currently opened generated cloud s The euclidian option specifies whether the scalar field is Euclidian TRUE typically like a distance field or not FALSE Notes e anew scalar field is created on each cloud e result is automatically saved by default see the AUTO_SAVE command to change this Cloud
37. easiest one is the bounding box centers matching method Simply select two or more entities then call Tool gt Registration gt Match bounding box centers immediate effect no dialog It will center all the selected entities on their respective center of gravity It s clearly a very simple approach it can only translate entities and not rotate them However it can save you a few clicks Manual transformation It is possible to interactively displace with the mouse one or several entities relatively to other entities See the Edit gt Translate Rotate Interactive Transformation Tool MD y XxX Rotation Translation mode Rotation XYZ Y Tx Y Ty Y Tz Rotation Translation tool in action CloudCompare Version 2 6 1 user manual 27 Picking equivalent point pairs Another powerful yet simple tool to align two entities is the Align point pairs picking tool It lets the user pick several pairs of equivalent points in each cloud in order to register them While the process is manual it can be relatively fast and quite accurate especially if registration spheres are present in both clouds as this tool is now able to detect their center automatically ree S3 Y r 200 000 X Y Z Error An 7 891 32 961 4 002 0 0203037 A1 20 281 30 851 0 521 0 0459506 A 13 565 25 14 6 549 0 009575 v Point pair registration yh Current RM8 0 0 goes a urre
38. entities For each detected shape you get e a point cloud corresponding to the subset of points that supports the detected primitive The name of the cloud incorporates the estimated primitives parameters e the corresponding entity as child of this cloud Warning apart for planes the other primitives are not displayed by default as they can be much bigger than the actual cloud especially for spherical or cylindrical portions that may only fit on a very small portion of the complete primitive e each couple cloud primitive is randomly colored CloudCompare Version 2 6 1 user manual 157 DB Tree O lamp sampled a a Y 39 Ransac Detected Shapes lamp sampled _ a Y Cylinder r 0 320053 h 8 53728 1 gt V a Cylinder Y O Sphere r 0 789025 7 Sphere 4 Y Sphere r 53 431282 gt E A Sphere 4 J Sphere r 0 788771 T Sphere a J Sphere r 1 228282 gt 4 BA Sphere 4 Y Sphere r 0 789276 7 BR Sphere 4 Y Sphere r 0 784630 gt V Sphere Camera Link lt WW Properties y State Value Ransac Detected Shapes lamp Show name in 3D X 4 38854 Pox dimensions Y 12 4884 Z 482153 X 0 467479 Pox center Y 2 16095 Example of qRansacSD output CloudCompare Version 2 6 1 user manual 158 qSRA Surface of Revolution Analysis Introduction The qSRA plugin computes distances between a cloud and a theoreti
39. file for now Normals are not computed by default Note must be placed before the O option MERGE_CLOUDS filename merges all loaded generated clouds as one unique cloud Note result is automatically saved by default see the AUTO_SAVE command to change this SS algorithm parameter applies a subsampling algorithm on the currently opened generated cloud s algorithm can be RANDOM SPATIAL or OCTREE Expected parameter is e RANDOM number of randomly selected points e SPATIAL minimum distance between two points e OCTREE subdivision level between 1 and 10 in the standard version Notes e result is automatically saved by default see the AUTO_SAVE command to change this e input clouds are now replaced by their subsampled version since version 2 6 1 CloudCompare Version 2 6 1 user manual 172 SAMPLE_MESH method parameter samples points on the loaded mesh es For each mesh a cloud will be generated and will be added to the current loaded cloud set i e further processing can be applied to this cloud method can be POINTS or DENSITY Expected parameter is e POINTS the corresponding number of points e DENSITY the corresponding surface density Notes e result is automatically saved by default see the AUTO_SAVE command to change this e this cloud can be used as input for cloud to cloud or cloud to mesh distances computation for instance C2C_DIST comput
40. fixed number of neighbors or by providing the radius of a spherical neighborhood e and eventually one can choose to apply an approximation of this scheme by sharing the same local model with several points of the reference cloud instead of computing a new model for each The process is much faster this way especially for big neighborhoods but also much noisier Result without left and with local modeling right Note that the maximum distance doesn t change while the lower part of the histogram is clearly shifted towards zero CloudCompare Version 2 6 1 user manual General considerations When comparing two points clouds directly especially without model here are a few guidelines e make sure that the reference cloud extents are wider than the compared cloud ones to avoid virtually high distances on the boundaries More generally try to make sure that the reference cloud always overlaps the compared one that s also true for cloud mesh distances e always try to get the highest possible density for the reference cloud as it will directly change the results accuracy e if the reference cloud is very noisy consider using the least square best fitting plane model which is more robust to noise On the contrary if the reference cloud is clean but with high curvature consider using the quadratic height function Other options CloudCompare can split the computed distances along the 3 main dimensions X Y and Z If
41. in the upper main toolbar Description Loads entities from one or several files Organiser v Nouveau dossier B Daniel Nom E Ordinateur pa4_gvl bin l Disque local C amp penly bin a Tokyo D amp penly_part bin a Kyoto E a EMPTY F e Lecteur DVD RW G E Lecteur BD ROM H random_cylinders bin random_cylinders_true bin 4 random_spheres bin random_spheres_true bin iy R seau p sphere_with_normals bin EJ Panneau de configuration test_bug_distances bin E Corbeille E test_multiple bin Ly 07 Baviere Nom du fichier random_cylinders bin v BIN CloudCompare binaries Ouvrir Annuler File gt Load dialog Procedure Select the right file type with the drop down list next to the filename field Alternatively you can let CloudCompare guess it from the file extension use the All entry A file typically contains one or several entities clouds meshes etc Notes e read only access to the files Moreover once the entities are loaded CloudCompare will close the file and forget about it e the loaded entities are automatically put in a group which has the input filename as name However this group has no link to the file e alternatively files can be opened by dragging them from the file explorer and dropping them on a 3D view Supported formats See the supported file formats in the Supported file formats se
42. method will simply look for the nearest point in the other entity and take its color Edit gt Colors gt Interpolate from another entity Two entities must be selected the color source entity and the destination one In order for CC to differentiate both entities the destination entity must have no colors use the Edit gt Colors gt Clear entry to remove any existing color field if necessary And of course the source entity must have colors CloudCompare Version 2 6 1 user manual Colors gt Clear Menu This tool is accessible via the Edit gt Colors gt Clear menu Description Remove the color field of the selected entities Normals gt Compute Menu Icon This tool is accessible via the Edit gt Normals gt Compute de menu Description Computes normals on the selected entities Computing normals on a cloud local model Height function local radius 0 155500 Y Prefered orientation HBarycenter cancel Edit gt Normals gt Compute dialog mesh case If the entity is a cloud then the user must specify several parameters e local model whether to use a best fit plane 2D triangulation or height function quadric 1 to locally estimate the normal e local radius radius of the local neighborhood sphere If it s too small i e not enough points to compute the local model then the normal will be 0 0 1 by default If it s too big the
43. mga ep 1 00 gt Ls z bd ga 009 so 0 x E cow Urales Mn Mac ae Do luie 2704 7 02 377 deg t Firg tre Lawerage vale gt eri cols e et bl Export mo ASCII gid Image omi Meh do ay You can export the map to various formats e CSV matrix file e image e point cloud with the cylindrical projection only e textured mesh of the Surface of Revolution with the cylindrical projection only You can also generate horizontal and or vertical profiles in Autocad DXF format CloudCompare Version 2 6 1 user manual eS Distance mm 42 951878 22 213908 1 475939 19 262031 40 000000 71 859791 103 719582 135 579372 167 439163 159 160 qCANUPO Point Cloud Classification Introduction The CANUPO suite is a simple yet efficient way to automatically classify a point cloud It lets you create your own classifiers by training them on small samples and or apply one classifier at a time on a point cloud so as to separate it into two subsets It also outputs a classification confidence value for each point so that you can quickly identify the problematic cases generally on the classes borders Raw 3D Point Cloud Multi Scale Dimensionality Classification Vegetation Rock AR ay eS P i Wat e ay e ES dl E E e b Y w 4 Gravels Water 7 While the plugin is simple to use it can be a good idea to read some more i
44. of an output file predictable but if the file already exists it will be overwritten CloudCompare Version 2 6 1 user manual 176 BUNDLER_IMPORT filename imports a Snavely s Bundler file Bundler import through the command line is mainly meant to generate ortho rectified versions of input images directly on disk Optional settings are e ALT_KEYPOINTS filename load alternative keypoints from file filename e SCALE_FACTOR value sets image scale factor that has been used during keypoints generation e COLOR_DTM vertices count generates colored vertices of a pseudo DTM with approximately vertices count elements in command line mode vertices are automatically saved to colored_dtm_vertices bin next to ortho rectified images e UNDISTORT enables images undistortion Note see below for more details SET_ACTIVE_SF index Sets the active scalar field index for all loaded clouds Note scalar field indexes start at O 1 means no SF enabled REMOVE_ALL_SFS Removes all scalar fields from all loaded clouds or meshes Note entities are not automatically saved after this command you can use SAVE_CLOUDS or SAVE_MESHES explicitly AUTO_SAVE ON OFF Enables ON or disables OFF automatic backup of clouds and meshes at each step you ll have to manually call SAVE_CLOUDS or SAVE_MESHES at the right time position in your command SAVE_CLOUDS Saves all curren
45. on any point cloud in CloudCompare to display it for example see below Edit gt Octree gt Compute CloudCompare Version 2 6 1 user manual Displaying the octree Once computed either manually see above or after a method has requested it one can display it The octree object in database tree must be activated and set to visible Three types of visualization are available e wire default e points one point per cell e plain cubes ty CloudCompare 3D iew 1 iy File Edit Tools Display Plugins 3D Views Help IE DIS EO X le 3 DB Tree g bun_zipper ply D These Donnees E bun_zipper Mesh EM O vertices A octree 7 Camera Link Tr i FH ej 2 H Octree Children 0 Visible Current Display 3D View 1 y Dimensions x 0 155699 Y 0 154334 2 0 120673 Display type Display level AirPhotoSE The Bundler import tool and associated methods orthophotos generation as images or clouds colored DTM generation etc have been developed in association with Pr Irwin Scollar creator of the AirPhoto SE software A Program for the geometric rectification of aerial images amp orthophotos from multiple images This great software uses internally the Bundler tool to perform automatic intrinsic and extrinsic camera calibration from multiple aerial images This collaboration has led to an article in the bi annual newsletter of the Aerial
46. or load them from a text file each row of the matrix on a single line e 4 values separated by a space character or eventually paste it from the clipboard For instance most of the registration tools in CloudCompare will output the final transformation as a 4x4 matrix in the CloudCompare Version 2 6 1 user manual 44 Console The user can copy it with CTRL C on Windows and paste it here so as to apply the same transformation to another entity Rotation axis and angle translation The rotation part of the transformation can be input as a single rotation angle about a 3D axis The second tab Axis Angle let the user input those values the angle is in degrees It s the fastest way to apply simple rotations about X Y or Z for instance Euler angles translation The third tab Euler angles let the user define the rotation as Euler angles phi theta and psi Multiply Scale Menu This tool is accessible via the Edit gt Multiply Scale menu Description This tool lets the user scale the selected entities clouds meshes or polylines fx 10 00000000 fy 10 00000000 fz 10 00000000 aa Cancel Multiply Scale dialog CloudCompare will actually multiply the entities coordinates by user defined factors one per dimension Warnings e the input entities are changed directly e oncompletion the 3D view zoom and camera position won t change So depending on the scaling values you might ha
47. process might be very long and the result very smooth e preferred orientation optional Let the user specify a simple heuristic to set the normal orientation outside of the surface ideally These heuristics are o to beas parallel as possible to an axis in the positive or negative direction X X Y Y Z Z o to be as parallel as possible to a vector coming from the cloud barycenter and passing through the point or the opposite Barycenter o to be as parallel as possible to a vector coming from the origin 0 0 0 and passing through the point or the opposite 0 0 0 Notes e if no preferred orientation has been specified or if the result is still not consistent it might be necessary to use a more advanced algorithm to orient the normals See the Normals gt Orient Normals gt With Minimum Spanning Tree method e in any case it might be necessary to globally invert the normals field with the Invert method CloudCompare Version 2 6 1 user manual 57 58 Normals computed on a cloud left then properly oriented with a Minimum Spanning Tree right Computing normals on a mesh Edit gt Normals gt Compute dialog mesh case If the entity is a mesh then CC will simply ask the user if the normals should be computed e per vertex i e the mean normal of all the triangles connected to a vertex is assigned to this vertex smooth look no preservation of sharp edges e or per triangle i e the tria
48. remove the biggest triangles generally on the boundary that are not necessarily meaningful If this value is left to zero then all the triangles output by the Delaunay triangulation will be kept Edit gt Mesh gt Delaunay 2D This works very well with rather flat clouds and properly oriented i e with the Z dimension as the vertical one If the point cloud is not properly oriented but is still rather flat in a direction you should consider using the other version of this method Mesh gt Delaunay 2 5D best fit plane Note for 3D triangulation refer to the qPoissonRecon Poisson Surface Reconstruction plugin Mesh gt Delaunay 2 5D best fit plane Menu This tool is accessible via the Edit gt Mesh gt Delaunay 2 5D best fit plane menu Description Computes a Delaunay 2 5D triangulation on a point cloud 24 http en wikipedia org wiki Delaunay triangulation CloudCompare Version 2 6 1 user manual 63 Same method as Mesh gt Delaunay 2 5D XY plane However the 3D point cloud is first projected on the best fitting plane least squares Then the corresponding 2D points are triangulated and the mesh structure is applied to the 3D points By default the 2D Delaunay triangulation is done on the cloud convex hull Therefore CloudCompare will ask the user to specify a maximum length for the triangle edges This allows to remove the biggest triangles generally on the boundary that are not necess
49. scalar field gt Show previous SF menu Alternatively this method can be called with the SH FT Up arrow shortcut an entity with several scalar fields must be selected CloudCompare Version 2 6 1 user manual 145 Description This method changes the current active scalar field of the selected entity It activates the previous one if any See the cloud properties for the complete ordered list Active scalar field gt Show next SF Menu This method is accessible via the Display gt Active scalar field gt Show next SF menu Alternatively this method can be called with the SHIFT Down arrow shortcut an entity with several scalar fields must be selected Description This method changes the current active scalar field of the selected entity It activates the next one if any See the cloud properties for the complete ordered list Console Description The console is a dockable widget where all messages standard information warnings and errors are traced Some algorithms also output results in it Console 10 24 06 ccGLWindow Perspective is on by default object centered 10 24 06 Glew Initialized 10 24 06 3D View 1 GL version 4 5 0 NVIDIA 347 25 10 24 06 3D View 1 Graphic card manufacturer NVIDIA Corporation 10 24 06 3D View 1 VBOs available Display Hide To display or hide the console use the checkable Console entry in the Display menu Alternatively the F8 shortcut can be
50. scalar field associated to mesh vertices This method is particularly useful after applying the qPCV plugin Contrarily to the Gaussian Filter method the mesh structure is used to determine the nearest neighbors of each vertex This is much faster and no parameter is required 26 http en wikipedia org wiki Manifold CloudCompare Version 2 6 1 user manual Enhanced Edit gt Mesh gt Scalar Field gt Smooth or Enhance Mesh gt Scalar field gt Enhance Menu This tool is accessible via the Edit gt Mesh gt Scalar field gt Enhance menu Description Enhances a scalar field associated to mesh vertices This method is particularly useful after applying the qPCV plugin Sensors gt Edit Menu This tool is accessible via the Edit gt Sensors gt Edit menu Description This tool lets the user modify the intrinsic and extrinsic parameters of the selected sensor GBL TLS sensor rotation order yaw then pitch default Y Position Orientation Angular steps Other Yaw degrees 0 502614 Pitch degrees 0 067445 Edit gt Sensor gt Modify dialog GBL sensor CloudCompare Version 2 6 1 user manual 67 68 Camera sensor Position Orientation Intrinsic params Distortion uncertainty focal 2 055573 vert fio v 27 34 array size 1200 a pixel size 1 000000 x 1 000000 zNear 0 001000 0 285785 0 00 Edit gt Sensor gt Modify
51. should never consider the distance of a single point in its analysis but preferably a local tendency this is the same with nearest neighbor distance anyway To partially cope with this effect since version 2 5 2 we now keep for each point the smallest distance 36 http en wikipedia org wiki Hausdorff distance CloudCompare Version 2 6 1 user manual 108 109 between the nearest neighbor distance and the distance to the local model This way we can t output distances greater i e worst than the nearest neighbor s one However we can still underestimate the true distance in some hopefully rare cases The local modeling strategy is meant to cope with sampling related issues either a globally too small density or too high local variations of the density of the reference cloud It s always a good idea to use the densest cloud as reference Displaying the resulting distances color scale Once the computation is done the user can close the dialog To display the resulting scalar field s color scale just select the compared cloud and then check the Visible checkbox of the Color Scale section of its properties Color Scale Current he E Steps 256 Visible Fl Alternatively use the shortcut Shift C once the cloud is selected to toggle the color scale visibility One can also set the color scale to be used with the Current combo box and edit it or create a new one with the gear icon on the right
52. thanks to ICM meta files CloudCompare Version 2 6 1 user manual CloudCompare v2 6 1 beta 64 bits 3D View 1 e File Edit Tools Display Plugins 3DViews Help GE GEvo xX See Remove filter Blur shader Nac SOR MLS DB Tree Keypoints 1 Camera 1 Camera 2 DPP_0081 jpg o Camera 3 01 Camera 4 Camera 5 i i Property State Value Current Display 11 33 58 VBO VBO s re initialized for cloud Keypoints 0 11 Mb 100 00 of points could be loaded 11 40 57 ApplySensorViewport Viewport applied SADA MIHE 11 41 06 ApplySensorViewport Viewport applied 4 Calibrated picture overlaid on a cloud Viewport The current 3D view viewport can be saved anytime with the Display gt Save viewport as object method The corresponding viewport can be restored later thanks to this entity Viewport 1 Note this entity can only be saved in BIN files m 2D area label A special kind of label named 2D area label can be created with the Point Picking tool It has many common features with the Viewport entity And as this entity it can only be saved in BIN files 2D area label Interesting area CloudCompare Version 2 6 1 user manual 14 15 DB tree Loaded entities are all stored in the DB tree on the left part by default Some entities can depend on other ones such as a mesh and its vertices or can also be regroupe
53. the split X Y and Z components checkbox is checked CloudCompare will generate 3 more scalar fields on for each axis Cloud mesh distances Cloud mesh distances can be computed by selecting one point cloud and one mesh and then clicking on the we icon See the Cloud to Mesh Distance computation section for more information In this mode for each point of the compared cloud CloudCompare will simply search the nearest triangle in the reference mesh As meshes generally provide indirectly a side information one can determine what is inside and outside of the mesh by looking at the normal of the triangle cloud mesh distances can be signed this is the default behavior The user can choose to either ignore the normal information by unchecking the signed distances checkbox or to invert it with the flip normals checkbox CloudCompare Version 2 6 1 user manual 31 32 How to compare two 3D entities Load data Open the two 3D entities you want to compare with the File gt Open S menu entry These two entities can be e 2 point clouds e 2 models triangular meshes only see the Supported formats section e orone of each Data preparation Scaling the entities If the two entities have already the same scale you can skip this step e first choose an accurate element visible in the two entities edge cornice line or any other rectilinear element If you can t find such an elemen
54. the clipping box You can reset the clipping box to its original state i e the cloud bounding box anytime by clicking on the reset button in the upper right part of the dialog Close the tool You can close the tool by clicking on the red cross button in the upper right part of the dialog Segmentation gt Extract Sections Menu Icon This tool is accessible via the k icon the upper main toolbar or the Tools gt Segmentation gt Extract sections menu Description This tool allows the user to draw or import poylines on top of a point cloud so as to extract sections and profiles Procedure Select one or more clouds then launch this tool A dedicated 3D view will be created and a dialog will appear in the top right area of this 3D view CloudCompare Version 2 6 1 user manual 123 Section edition mode Left click add section points Right click stop Extract sections tool in action By default the tool starts in polyline edition mode Note the vertical direction is also set a Z by default This should be changed right away if the user wants to work with X or Y as vertical in which case the polyline edition mode must be deactivated first Polyline edition At startup or when the user clicks on the k icon the polyline edition mode is activated In this mode the other icons are disabled The user can only click on the 3D view so as to draw polylines e left click create a new vertex
55. the scalar part of the filter Spatial sigma 0 00250246 Scalar sigma 0 11914062 a Goma Edit gt Scalar Fields gt Bilateral filter dialog The bilateral filter tends to preserve the strong edges better Note a new scalar field is generated i e the original scalar field is not overwritten Scalar fields gt Filter by Value Menu Icon min This tool is accessible via the Edit gt Scalar fields gt Filter by value menu or the nat icon in the upper main toolbar Description Filters the points of the selected cloud based on their associated scalar value A new cloud or mesh is created with the points falling inside the specified range loga er by SN Min 0 30000000 Max 0 40000000 gt a Ga Edit gt Scalar Fields gt Filter by value dialog Scalar fields gt Convert to RGB Menu Icon This tool is accessible via the Edit gt Scalar fields gt Convert to RGB Q menu Description Simply converts the active scalar field to a RGB color field The colors assigned to the points are exactly the ones visible on the screen at the time the method is called Therefore the rendering won t change However CloudCompare will automatically hide the scalar field and activate the RGB field instead Note the original scalar field is not modified nor deleted 34 http en wikipedia org wiki Bilateral filter CloudCompare Version 2 6 1 user manual 79 Scalar fields gt Convert to random RGB
56. 0 000000 Min vertex 10 ignore borders Contour plot generation parameters The user must specify e Start height height of the first contour line e Step step between each contour line e Min vertex minimum number of vertices per lines used to remove the very small contours around trees etc e ignore borders to remove the contour lines created on the grid square edges The first time and each time the parameters are changed or the grid is updated the user must click on the Generate button to generate the contour plot Then a preview of the generated contour lines will be displayed over the raster grid The user can pan and zoom the 3D view to view it better The point size can also be modified in the standard way interactors appear when the mouse hovers the top left part of the 3D view The resulting contour lines can be removed with the Clear button or exported as real polylines in the DB tree with the Generate button All contour lines are exported in a single group automatically named after the input cloud name and the Step value CloudCompare Version 2 6 1 user manual CloudCompare v2 6 1 beta 64 bits 3D View 1 File Edit Tools Display Plugins 3DViews Help 2 pun A f Ma Em se Lo C dl A AA i yy on x e Wes Edo cc A Remove filter Blur shader NC SOR MLS IS gn Es DB Tree 4 7 5054800 _c Cloud bin E These Donne Y 5054800_c Cloud 4 V Y
57. 0 05 0 1 0 2 0 5 1 0 Note the more scales you set the more discriminative the result might be but also the longer the computations especially if the largest scale is wide relatively to the cloud density Optionally you can set more advanced parameters in the lower part of the dialog e the type of descriptors that will be computed only Dimensionality as proposed by Brodu and Lague in the original CANUPO paper is available for now e the maximum number of core points that will be randomly extracted from the input cloud 10 or 20 thousands should be more than enough in most of the cases CloudCompare Version 2 6 1 user manual 161 e you can specify to use the original cloud not the segmented ones to compute the descriptors it s a little longer depending on its size but it can gives better results on the borders e eventually you can specify another cloud that will be used to display the classifier behavior see below Once ready you can click on the OK button to start the training The plugin will start to compute the descriptors on each cloud and will then try to find the best classification boundary in a custom 2D space The classifier behavior is represented by projecting all the descriptors in the classification space with the classification boundary in between as a magenta line If a custom cloud has been set for displaying the classifier behavior all its descriptors will be represented in grey
58. 4 Y O 210 KING_012 E amp Ground Based Laser Scanner E Property State Value 1 19209e 07 80 48 0 06 0 0234 Pitch span 180 00 180 00 Pitch step 155 0250 Drawing scale 0 500 Apply Viewport 10 07 28 VBO VBO s re initialized for cloud 210_KING_012 367 52 Mb 100 00 of points could be loaded 10 07 39 ApplySensorViewport Viewport applied 10 07 46 ApplySensorViewport Viewport applied 10 07 56 ApplySensorViewport Viewport applied gt E g Q Di ml E Ha iT jmi Y e FARO scan viewed in bubble view mode To leave this mode the user must click on the M icon in the top left corner of the 3D view Note the B shortcut can be used to enter this method CloudCompare Version 2 6 1 user manual Global Shift and Scale Introduction When loading or generating an entity with very big coordinates typically greater than 10 CloudCompare will warn the user about this and suggest to shift or rescale the entity in order to work in a local coordinate system with smaller coordinates Global shift scale Coordinates are too big original precision may be lost Do you wish to translate rescale the entity SftScale nformaton is stored and used to restore the ongina coordinates at export time Point in original coordinate system on disk x 3546013 500000 y 5293985 500000 z 446 100005 Shift 3546000 00 293900
59. 56 000000 y mon 57273488 205078 40520 410156 Edit gt Scalar Fields gt Gradient output example The gradient is a good way to identify rapid changes in the source SF for instance and other interesting structures Note a new scalar field is generated i e the original scalar field is not overwritten Scalar fields gt Gaussian filter Menu Icon This tool is accessible via the Edit gt Scalar fields gt Gaussian filter Q menu Description Smooths a scalar field by applying a spatial Gaussian filter The user must choose a kernel size in fact the radius of the sphere in which nearest neighbors will be extracted around each point to compute the mean value The bigger the stronger the filter will be and the slower the computation Edit gt Scalar Fields gt Gaussian and Bilateral filters Note a new scalar field is generated i e the original scalar field is not overwritten 33 http en wikipedia org wiki Gaussian filter CloudCompare Version 2 6 1 user manual 77 78 Scalar fields gt Bilateral filter Menu Icon This tool is accessible via the Edit gt Scalar fields gt Bilateral filter e menu Description Smooths a scalar field by applying a bilateral filter gt CloudCompare will first ask for the two parameters of the filter e spatial sigma the Normal distribution variance for the spatial part of the filter e scalar sigma the Normal distribution variance for
60. 9 Sensors gt Ground Based Lidar Export Depth Butaca taa tds 70 Sensors Camera Sensor gt Create iia dd ie 71 Sensors gt Camera Sensor gt Project uncertainty ccoocccnonccnccnncnononononcnnonononononcnncnononononcnnannnorcnnncnnanennanoncnnaninncnunos 72 Sensors gt Camera Sensor gt Compute points visibility with OCtree ocooonccnnnnonoccnnnonnnacnnnnonaninonnnnnnccnnnonanonnnnns 72 SENSOFS gt VIEW FONT SEMSOM arar 73 SENSO A COMPUTERS ra ri on tne etna sen A Aa 74 Sensors gt Computescatterineiansales a 74 Scalar fields gt Show Nistogra M ia 75 Scalar fields gt Compute statistical DArAMETESS ccccccccsssssccccceesecccccaeeececssuseecessuuesecessueuseceeseeeeeceesauasseeesaaseeeesaees 75 Scalar fields EIN A RR A AS 76 scalartelas Gauss ia Wel ass 77 scalarntielas gt Blateraltlter adi 78 ca tenets antes Milas tes et Ath seal al bees Siar aN ae 78 Scalar Tels CONVERETO ROBA 78 Scalariielas gt CONVENE TO random Bid aie 79 Sealartielas gt Rename 79 Scalar fields gt Add Constant S E aro 80 Scalar fields gt Add poMmtindexes AS SF ia AAA AA 80 Scalar fields gt Export COOrdinate S tTO FS luar ias 81 Sedat Tels SEES aS COO FCI MAC 5 ei a atc tei cash alata inte aa oe 81 Scalar fields SAMIEMIMGLIC a as 82 Scalar tielas gt Color Scales Manager ainda A A A eaatacaeterancedabeas 83 Scalar fields gt Delete io odas 85 Scalartields Delete li adds 85 FAS oo 86 A ii 86 A A A NoE E O sees
61. CloudCompare Version 2 6 1 CloudCompare User manual Index table o A RR TS 7 ASCO EAN AAA A See me eee 7 PRANOSOP Vai is 7 POM COU VS IM AS 7 Scalar Teld SS O A O 8 SOME technical Consider d ONS arera r E E E NEE ON 8 PONAD ia ici 8 Tadeo between torace and Perdi iaa 8 Recon VOI CIO ar e caeaatacatabioeaaasut anaes Gear wmeauit O E ses aeeroontarsedtedan teeters 9 NCQ IVS Creo o E busaennaah cava eenensaesoasa hoster aaeiecucatosaethaniarecto acta 9 COINS WES O aaa ates wnsacyicco het a lee ara ase E nana cette ea yates nova uececae sucie une oie hat edean manne E eee bates uarsuaana tae 9 GONE ANC ONG OES casero bt te ot sana a deasameataetees 10 GEADNICAIHISE IMCS aCe ss aso oriol oro Eo la ise occobsa 10 A Pe O 11 MAI AA e ee ta de 11 POINT ClOUG associated StructUTE Sci Pei uedidauhecanndudvacenseevanpsditsnrdaceetananateen sess aubanensGusuadedattacannduleecdeveuueeerstueveaes 12 Other entes dd aio 13 A A Madd eeudeeteoetute 15 Drag A o 15 A aces da cay Pte a el dares ee accent nek cid aden etc cnc nace scary elke Sasa eaten ava teed dag nae arate E eal onan pdveuies 15 CGOMUTCX TIM GIN UE sheaa totic ener tenons en ossicn sen oe men A A a 15 ENT POV CUI E S ida dais 16 Scalar field display parameters Colt nniiii ackoudendelouaayaassconssaceueds aaateeadesncuet 17 Supported TLS LONI AUS nai A aia 18 Display MOSS ara id T 20 METE o o A tain Gta eel Neate eta a Nal iat ant aa aet
62. Compare which is also very good but less important in this particular case CloudCompare simply adds dialogs to set some parameters see below and a seamless integration in its own workflow This plugin has been developed by Luca Penasa University of Padova Available methods The following methods are currently accessible though this interface Estimate Normals and Curvature to compute the normals and optionally the curvature of a point cloud Statistical Outliers Removal http pointclouds org documentation tutorials statistical outlier php cleaning filter MLS Moving Least Squares smoothing upsampling to smooth and optionally to upsample a point cloud 1 http en wikipedia org wiki Kinect 42 http openkinect org wiki Getting Started Driver installation 43 http pointclouds org 4 http pointclouds org documentation tutorials statistical outlier php http pointclouds org documentation tutorials resampling php CloudCompare Version 2 6 1 user manual 152 qPCV ShadeVis Ambient Occlusion Introduction qPCV stands for Portion de Ciel Visible in French which translates into Portion of Visible Sky in English It calculates the illumination of a point cloud or vertices of a mesh as if the light was coming from a theoretical hemisphere or sphere around the object the user can also provide its own set of light directions see below It uses only the graphic card to achieve this It is
63. Compare Version 2 6 1 user manual 174 BEST_FIT_PLANE computes the best fitting plane on all loaded clouds Optional settings are e MAKE_HORIZ will actually transform the loaded cloud s so as to make them horizontal e KEEP_LOADED to keep the resulting plane s in memory as mesh es Notes e resulting planes are automatically saved e if MAKE_HORIZ is defined result is automatically saved by default see the AUTO_SAVE command to change this APPLY_TRANS filename applies a 4x4 transformation matrix on the loaded entities clouds or meshes The matrix is read from a simple text file with the matrix rows on each line 4 values per lines 4 lines Notes e each entity will be replaced in memory by its transformed version e resulting entities are automatically saved by default see the AUTO_SAVE command to change this MATCH_CENTERS makes all the bounding box centers of the loaded entities match All the entities will move relatively to the first one clouds are always considered first if clouds and meshes are loaded Note result is automatically saved by default see the AUTO_SAVE command to change this DELAUNAY Triangulates the loaded clouds with 2 5D Delaunay triangulation The triangulation is done in the XY plane by default Optional settings are e AA to triangulate the points in the XY plane default behavior e BEST_FIT to triangulate the points in their best fit plane e MAX_
64. Coord Z Coord Z 640 419983 639 139984 637 859985 636 5 9987 635 299988 634 019989 632 739990 631 459991 630 179993 Z coordinates exported to a new scalar field Warning if a scalar field with the same name exists it will be overwritten Scalar fields gt Set SF as coordinate s Menu This tool is accessible via the Edit gt Scalar fields gt Set SF as coordinate s menu Description Sets the active scalar field of the selected cloud as one or several of its coordinates CloudCompare will ask the user to select the destination dimension s pt to i e CloudCompare Version 2 6 1 user manual 82 Edit gt Scalar Fields gt Set SF as coordinate s dialog For instance one can replace the Z coordinates by any scalar value so as to have a kind of 3D representation of the scalar field More commonly this method is useful to convert a 2D raster with the altitude coming as scalar field into a proper 3D cloud raster Left original raster right Z coordinate exported the from associated SF Note it is sometimes necessary to rescale the Z coordinate afterwards with the Multiply Scale method as raster fields are not always in the same units as the XY coordinates e g the altitude is coded as a gray intensity between O and 255 Scalar fields gt Arithmetic Menu icon This tool is accessible via the Edit gt Scalar fields gt Arithmetic menu or the El icon in the upper main t
65. D 10 Matching criterion max bounding box dimension bounding box volume 9 principal dimension PCA ICP only the scale will be applied ICP parameters Below the user can choose how the scale is computed e max bounding box dimension e bounding box volume e principal dimension deduced by Principal Component Analysis e ICP registration see below Warning on completion all entities but the reference one will be scaled Therefore you may want to save or clone the entities before applying this tool CloudCompare Version 2 6 1 user manual 100 101 ICP criterion If the user selects ICP registration as scale matching criterion two parameters can be defined RMS difference and Final overlap Refer to the Registration gt Fine registration ICP tool documentation for a description of those parameters Note that only the resulting scale will be applied Registration gt Align point pairs picking Menu Icon This tool is accessible via the e icon in the main upper toolbar or the Tools gt Registration gt Align point pairs picking menu Description This tool lets the user align two entities by picking at least three equivalent point pairs in both entities This method is very useful to align clouds quite precisely It s even sometimes the only way to get a fine result typically if the two clouds have great differences on large extents in which case the ICP regi
66. Displayed numbers precision 6 Perspective zooming speed 2 000 Show middle screen cross Decimate big douds gt 10M when moved Decimate big meshes gt 2 5M when moved V Try to load douds on GPU for faster display Use OpenGL for point picking ok Apply Reset Cancel The user can set e the default font size e the precision of displayed numbers i e the number of digits e the zoom speed in perspective mode since version 2 6 1 e whether across should be displayed in the center of the 3D views middle screen cross e whether big clouds over 10 M points should be decimated when the view is rotated e whether big meshes over 2 5 M triangles should be decimated when the view is rotated e whether clouds should be loaded on the graphic card memory thanks to VBOs 1 only activated on NVidia cards by default as crash were reported on ATI cards The user can still enable this option at his own risks e whether to use OpenGL picking mechanism for point picking disabled by default as this feature is not accelerated and is generally slower than CloudCompare s built in algorithm CloudCompare Version 2 6 1 user manual 141 Camera settings Menu This method is accessible via the E icon in the left View toolbar or the Display gt Camera settings menu Description This method displays the Camera settings dialog Current mode object based perspective phi l theta l l psi F
67. EDGE_LENGTH length to remove the triangles with edges longer than a given threshold Notes e the resulting mesh entity is automatically saved see the AUTO SAVE command to change this e the clouds are automatically removed from the loaded clouds set ICP Iterative Closest Point registration procedure Optional settings are e REFERENCE_IS FIRST by default the ICP registration process will take the first loaded entity as data and the second as model clouds are always considered first If you use this option their respective role will be inverted e MIN_ERROR_DIFF to specify the min error difference between two steps default 1e 6 e ITER to specify the number of iterations in which case the MIN_ERROR_DIFF option will be ignored e OVERLAP to specify the percentage of final overlap integer number between 10 and 100 default 100 e ADJUST SCALE to enable the ICP registration with adaptive scale e RANDOM_SAMPLING _LIMIT to specify the number of points randomly sampled at each iteration default 20 000 e ENABLE_FARTHEST REMOVAL to enable the research option that ignores points with the highest distances at each iteration Notes e the data entity in its final position is automatically saved see the AUTO_SAVE command to change this e the corresponding transformation matrix is automatically saved in a separate text file always CloudCompare Version 2 6 1 user manual
68. IAL_SUBSAMPLED_YYYY MM DD_HHhMM bin e myhugecloud1_RANDOM_SUBSAMPLED_YYYY MM DD_HHhMM bin e myhugecloud2_RANDOM_SUBSAMPLED_YYYY MM DD_HHhMM bin e myhugecloud3_OCTREE_level_9 SUBSAMPLED_YYYY MM DD_HHhMM bin CloudCompare Version 2 6 1 user manual 177 Cloud to cloud distance CANO Oi evict SSO VON OO BIO O GN OUO A SO OAC oli sii Soule eas OSA ali ue shaadi USOC CC will load cloud1 bin and cloud2 asc then compute the distance from cloud1 compared relatively to cloud2 reference with a height function quadric computed on all the neighbors falling in a sohere of radius 50 0 around each point of cloud1 On output a file cloud1_C2C_DIST_YYYY MM DD_HHhMM bin will be generated with the resulting distances as first scalar field and the 3 components of the corresponding displacement vector along X Y and Z as additional scalar fields Note this cloud stays in memory and can be processed further with FILTER_SF for instance Cloud to mesh distance COLIC One tae SOG O AA ONE CONE CS CC will load cloud1 bin and mesh obj then compute the distance from cloud1 compared relatively to mesh reference On output a file cloud1_C2M_DIST_YYYY MM DD_HHhMM bin will be generated with the resulting distances as scalar field Note this cloud stays in memory and can be processed further with FILTER_SF for instance Bundler import ETOUALSON ASS RUNDERE E FAT MEOR OUunG E TOU r UOC This will generate all ortho rectified v
69. INE Rotation Center E Camera eye center 254 808350 1003 674541 17320 462891 15528 650925 12911 931641 9322 076800 Field of view 30 00 deg Near dipping plane F Main parameters The user can change most of the parameters of the OpenGL camera of the active 3D view e the camera orientation with Euler angles phi theta and psi e the scene rotation center the icon lets the user pick a point in the 3D scene as new rotation center e the camera eye center e the field of view only effective in Display modes perspective mode e the near clipping plane only effective in Display modes perspective mode Note when changing a parameter the 3D view is directly updated And conversely when modifying the 3D view camera position or orientation while this dialog is opened the dialog parameters should be directly updated Cart system The cart j icon let the user store the current camera orientation Once done the stored camera orientation can be restored with the ul icon Moreover the user can set predefined views from top bottom left right front back and 2 isometric views relatively to the stored orientation CloudCompare Version 2 6 1 user manual 142 Save viewport as object Menu gd This tool is accessible via the Display gt Save viewport menu Alternatively the shortcut CTRL V can be used Description This tool allows the user to save the current viewport parameters camera position and orientat
70. Patella v Tibia amp vertices C Femur ki ee Patella C Tibia Camera Link Merging meshes input Knee joint group output Merged mesh entity Note all triangles are copied but not actually merged topologically speaking i e they won t share the same vertices Refer to the qCork Boolean Operations on Meshes plugin to do this CloudCompare Version 2 6 1 user manual 41 Subsample Menu Icon This tool is accessible via the Edit gt Subsample menu or via the icon in the upper main toolbar Description Subsamples a point cloud i e decreases the number of points Several subsampling methods are available random spatial and octree based Notes e foreach input cloud a new subsampled cloud is created the original one is simply deactivated e asubsampled cloud is a subset of the input cloud the original points are not displaced e thanks to this a subsampled cloud keeps the features of its source cloud scalar fields colors normals etc Procedure Select one or several clouds then launch the tool Cloud sub sampling 2 Sampling parameters method Space v large small min space between points 0 0000 gt Use active SF 4 OK Cancel Subsampling dialog Random In random mode CloudCompare will simply pick the specified number of points in a random manner Sampling parameters method Random v none all remaining poi
71. R MLS DB Tree ml a Y jourl bin N 8000 CC data Users EDF R 4 Y O jourl Cloud 0 7 Ground Based Laser Scanner Camera Link Properties Property State Value Pitch step 0 2000 Drawing scale 2000 000 Apply Viewport Position Orientation Matrix Axis Angle Axis 0 000000 0 000000 1 000000 Angle 0 000000 deg G G HuagmnhOaRot P esBs Center 0 000000 0 000000 0 000000 Associated positions 3500 Console 10 13 34 GL Filter Filter initialized 10 17 32 BIN Opening file N 8000 CC data Users EDF R amp D Chantier jourl bin 10 17 32 BIN Version 1 0 10 17 33 1 0 File jourl loaded successfully 110 17 331 VRO VRO relinitialized for cloud inurl Cloud 20 2 56 Mh 100 of nnint lt could he Inaded GBL sensor object as visible in the DB tree and in a 3D view Sensors gt Ground Based Lidar gt Show Depth Buffer Menu This tool is accessible via the Edit gt Sensors gt Ground Based Laser gt Show Depth Buffer menu Description Displays the depth map of the selected Ground Based Lidar GBL sensor GBL sensor depth map 28 http en wikipedia org wiki Depth ma CloudCompare Version 2 6 1 user manual 70 Sensors gt Ground Based Lidar gt Export Depth Buffer Menu This tool is accessible via the Edit gt Sensors gt Ground Based Laser gt Export Depth Buffer menu De
72. Rasterize menu or the PS icon in the upper main toolbar Prior to version 2 6 1 this tool was named Height grid generation Description The main purpose of this tool is to rasterize a point cloud i e convert it to a 2 5D grid and then export it as a new cloud or a raster image geotiff for instance Another application since version 2 6 1 is Contour plot generation Procedure Select one cloud then start this tool Input cloud A dedicated dialog with an embedded 3D view will appear Some pieces of information about the selected cloud are displayed in the upper left corner The most important is the height range and the minimum and maximum height values of the cloud the height being considered along the projection dimension CloudCompare Version 2 6 1 user manual Generating a raster grid The first and mandatory step is to generate the raster grid Rasterize Cloud Name 5054800_c Cloud Points 3886421 height range 222 84 38 73 261 57 Update grid 500 x 500 Projection direction cell height interpolate SF s average value 7 T resample input loud Empty cells Fil with Export Contour plot Cloud Export per cell statistics as SF s F population E min height E average height T max height F height std dev height range iaa Ge Matrix text file Mesh Lo cancel The user must define the main raster grid generation para
73. Remove filter gt gt oe C2M Signed distances E 33 Ti_allfraaments_envshade254_part e nen ECO Mesh 15 000 Fa O vertices j 1 1 M O Points 10 000 E Q I Camera Link 6 66 O mi Properties g 3 333 C E 0 000 a yl 15 000000 displayed 15 0000000 E O ana ala a o c0000000 3 color sat 10 0000000 fee J absolute saturation log scale 15 000 IV release boundaries NaN in grey Display color scale Console 11 33 12 ComputeApproxDistances Time 1 10 s 11 33 28 ComputeDistances Time 15 00 s 11 33 28 ComputeDistances Mean distance 0 056285 std deviation 4 629822 Typical result of a distance computation process with color scale display parameters adjusted Dealing with sparse mesh vertices If the compared entity is a mesh CloudCompare will only compute the distances from its vertices to the reference entity If those vertices are too sparse i e with a too low density you may want to sample points on the mesh first with a high sampling density To do this use the Edit gt Mesh gt Sample points ES tool Then use the resulting cloud as compared entity instead of the original model CloudCompare Version 2 6 1 user manual 36 Tools and algorithms Here are described all the methods of CloudCompare in the order they appear in the menu File menu Open Menu Icon This tool is accessible via the File gt Open menu or the E icon
74. S 10 E A EEE E E N erase EA Ga N anal A E EEA ab oat cane EE sien 130 Other DEMS LY enen a E a A a 131 ONER EN o aaa 132 Other ROUSANES E PE E E E E E EEEE A ETEN TE A EE E E T AE EE E tie lets 133 Other Remove duplicate Poltica 133 DIS a a eS 135 FUISTE Ni A AS AAA A A 135 FRE FICS as 135 Togele Centered Pers peces a 135 Toggle VIEWER Based Pers peces O 135 Eolo Meses TN 135 Enter bubble Mew Mode id Sans 136 Renacer to AA A E O i 137 Display SCUUNES a iaa 138 EE A y Peg te te nacaaneuen saci Aaue nea ntare pias saunuanaeeceu O 141 SVE o a a a N 142 AJUS a eaavenedteis 142 MEST ErFaMEe ei eii id ra a 143 IG IVES gt TOROS SUN eo adidas 143 Lente Topele CUStO ma ent eons sedeesc ceca taaaeecgumauacteees NEN 143 shaders ana Fitters gt Remove teria senna wasuauceutsadey cnavedsn cuca aeuvamsenetssnteatev eras deaasonccancban s 144 Active scalar teld gt Togale Color Cl a 144 Active scalar 1ed gt Show Previous Fic 144 Ative scalar field SMOW NEXE Sas 145 CONSO IE ce para a van nesses T E T E E A N E E 145 TOO E pee E A E A E caaeuereuntace tate oaeaia teaeaes 145 RES 1 ELO le Mie S en a a a a tate apeaausts sada taeeaseerneasaans 146 SD WIC WS A A AN 147 A A autos 147 CS lt P E E A ARNO 147 A Geese ue sna cinate vate sea dseumece santarecis A wale nesesines pete na tm aeatacsante E 147 MMS td 147 CASCAG r vacustctemeu sua nada aetvecanctina a saved ndctetancens du Ga cew N a a a 147 Nena orita 147 PRC VIOUS sr a hea bussed de
75. VS CO OZ E 53 COONS OV CG ose ccs anon O 54 Colors aher Ramp a a OS 55 Colors gt Convertio Scalar Held a S 56 Colors gt INTEL DO la be romano the r entintado 56 Colors gt Ce Iom a a A 57 Normals a COMPUTE orria AA ee eee ae 57 O E Oe AA AAA AET 59 Normals gt Orient Normals gt With Minimum Spanning Tree cccccsssccccsssccceeccccasceccensccseueccessaecessaueeessaesessaaess 59 Normals gt Orient Normals gt With Fast Marching ccccccscccssecccsscecesecceseceeecceenceeenceceecseeeceseuceseueeseeeesecesensenseees 59 Normals Convert to gt Vii AS 60 Normals gt Convert to gt Dip and Dip direction SFS ccccccssssccccsececeeccccessccceeeeccseuecesseuecessueecseuscesseuseesaaeseesaneess 60 IORI AIS Cai 60 OCHS CO OUI a aia bal 61 Octroe gt RE Saline sesetaisteccacsees ate ats ae sarad Ln E 61 Mesh gt Delaunay 2 5D XY plane lada A aos 62 Vesti Delatinay 25D DEStUTIC planeta tae 62 Mesh gt Convert texture material to ROBA s 63 Mesne Sample DOMES and ato 63 Mesh gt Smooti Laplace 64 Mesh SUD AIM lada iia 64 Mesh Measure SURCO 65 Mesh Measure OCI Cia ves ah ana E E cers 65 MP a a 66 MeshiSealar TIEIG SIMOOL Ni eie AEE EN 66 Mesh gt Scalar eld gt EnNaNCE siii 67 SONS ONS A o e elos 67 Sensors Ground Based Lidar gt Create 68 Sensors gt Ground Based Lidar gt Show Depth Buffer ccccoocccnonoccncconcnnnnanonnnnacononononnonanonnonarononanonnonaronnnnacononaneninns 6
76. X X binary 1 Colors RGB louds Various scalar fields see LAS 1 4 specifications E57 e57 ASTM E57 file format X X mixed gt 1 Calibrated picture s Normals Colors RGB or I Scalar field intensity PTX ptx LEICA point cloud X ascii gt 1 Sensor s Robust normals can be export format computed at loading time FARO fls FARO formats X binary gt 1 Sensor s Scalar field reflection value fws DP dp DotProduct DPI 7 X binary gt 1 Sensor s Colors RGB format Robust normals can be computed at loading time PCD pcd Point Cloud Library X X binary gt 1 Colors RGB format Normals Scalar fields gt 1 PLY ply Stanford 3D X X both 1 1 Normals geometry format Colors RGB or I cloud or mesh Scalar fields all Single texture OBJ obj Wavefront mesh X X ASCII 1 gt 1 Polyline s Normals Materials and textures VTK Vtk VTK file format X X ASCII 1 1 Normals triangular mesh or Colors RGB cloud only Scalar fields gt 1 STL Stl STereoLithography X X ASCII 1 Normals file format mesh OFF Off Object File Format X X ASCII 1 mesh 10 http en wikipedia org wiki Wavefront obj file 11 http en wikipedia org wiki STL_ 28file format 29 12 http www cs princeton edu courses archive spr08 cos426 assn2 formats html CloudCompare Version 2 6 1 user manual FBX fbx Autodesk Filmbox X ASCII gt 1 gt 1 Normals File format or Colors RGB binary Materials an
77. You could do the same with a noise or confidence scalar field etc Octree The octree mode lets you select a level of subdivision of the octree at which the cloud will be simplified In each cell of the octree the nearest point to the octree cell center is kept Notes e the higher the level is the smaller the cells are so the more points you ll keep e the maximum octree level is 10 in the 32 bits version of CloudCompare and 21 in the 64 bits version e the tool differs from the Octree gt Resample method The Resample tool computes the center of gravity of the points falling in each cell i e the created cloud is not a subset of the original cloud CloudCompare Version 2 6 1 user manual 43 Apply Transformation Menu icon This tool is accessible via the Edit gt Apply transformation menu Description This tool allows the user to transform i e rotate and or translate the selected entities The transformation to apply can be input in various ways Cc Apply transformation Matrix 4x4 Axis Angle Euler angles Enter 4x4 matrix values ASCII file clipboard help 0 999863982201 0 016358006746 0 002093190327 278 330566406250 0 016347926110 0 999855101109 0 004745850340 63 369140625000 0 002170519670 0 004710985813 0 999986529350 85 946289062500 0 000000000000 0 000000000000 0 000000000000 1 000000000000 _ Apply inverse transformation OK Cancel Apply transformation dia
78. Z 768 881 X 4264 46 Box center Y 187417 Z 13747 33 Info Object ID 326 Children 1 Current Display 3D View 1 x Faces 1 104 Wireframe F CloudCompare Version 2 6 1 user manual 16 17 Entity properties a sphere here Most of the entities display properties can be set via this dialog e visibility of the entity visibility of its features colors normals etc e the current 3D view in which the entity is displayed Current Display list e the active scalar field and its display parameters current color scale whether it should be displayed in the 3D view and how etc e etc Other parameters can be modified such as e wireframe or stippling a kind of fake transparency modes for a mesh for instance e primitives parameters e etc And of course various pieces of information e bounding box center and extents e the number of points or triangles e the Global shift and scale e associated meta data e etc There are even some action buttons sometimes for viewport or sensor entities for instance Scalar field display parameters editor In the Properties dialog an editor very specific to CloudCompare can be found on clouds and entities with an active scalar field SF display params Display ranges Parameters 2047 00000000 gt displayed 1210 14285714 Vv O 1532 71428571 saturation 850 14285714 Scalar field para
79. a generalization of the algorithm developed by Tarini et al from the Visual Computing Lab Usage To use this plugin the user must select one cloud or one mesh The plugin dialog looks like this i ShadeVis Light rays Samples rays on a sphere a Count 512 4 21 Only northern hemisphere 2 Use cloud normals as light rays cloud omphalos10 Cloud 0 3190209 points Render context resolution 1024 closed mesh Cancel Most importantly you have to set e whether the light should come from an hemisphere the sky hemisphere by default e to one pointing towards e Z or if it should come from the whole sphere warning only works with a closed shape otherwise the light will attain points by the front and the back leading to an unrealistic and poorly contrasted result e you have to set the number of light rays sampled on the hemi sphere The more samples you use the finer the result will be but also the slower the computation will be e the resolution of the OpenGL context that will internally be used for rendering the different views of the object The bigger the finer the result But you need enough memory on you graphic card AND if you use a cloud you have to get a very dense cloud otherwise holes will appear between the points and let the light enters Secondary options are e to specify if the mesh is closed in case the selected entity is mesh This accelerates the process e y
80. a iracan cul EN Maddeasmecactunees 147 FHS VD Men esc acces A In T ae ca a inh cca eal can A ea ecei eneceos 148 e esse dea 148 PO UU ase ceca aera east ag at ae cc alee ainda 148 PD OUI IPCI ar 148 POOH al S and ICONS odas aaa iaa bea 149 MANO ID ias 149 Scalar He las TOO DAN A AAA a 149 OpenGL tiltersishaders tool iaa 149 Standard PUES OO ASE 149 SDV WTO ODA a tii 149 PLUCIS e E A a a 150 Standard PUCIS it A AA A as 150 GHPR Hidden Point Removal uta lencetoevartemestmaneneea monk 150 qKinect Point Cloud Acquisition with a KINGCE siccsisveicerstvccaasesvaisaleves sedtiveaneestacvannyetansete see aedieusaderstadaaitoumeateveseeeans 151 GPCL Point Clouded Library Wrappernaa A de 151 GRCV iShadeVis AMbDICMEOCCIUSION rai 152 qPoissonRecon Poisson Surface Reconstruction id 153 aRansacSD RANSAC Shape Detection eniros aa 156 GSRA Suriace OT Revolution Analysis aii a A A A A A 158 GCANUPO Point Cloud Class 160 qivisC2 Robust C2C Distances COMmpUtation abia 165 acork Boolean Operations on WieShe S ida ss 168 OpenGl SHACerS PUN ll eto 169 qEDL EVe Dome LHeNtINg iaer ao id 169 GSSAO Screen Space Ambient OCClUSION aia ata 170 APENAS 171 Commana MINS MOE SA A A as 171 EXIDE PP A e E ee oe een 176 A I E ad walesoncene aati are NS 176 Clota to clo COIS CAIN CO canica 177 Cova 1 Os SPC S CAIN srr whe ae ucanaticcaietaoeatasstiannt ita aexewaantucnvedtes e E tou est 177 A aoeante 177 Meshitormal conversi n oea2G2ervarciateva
81. ach other to optimize the plane orientation accuracy e you can cancel the process any time by clicking on the tool icon again e the first clicked point will be used as origin for the new coordinate system The vector between the first and second clicked points will be the new X dimension e this tool modifies the selected entities directly You may want to clone or save them prior to call this tool e Point picking CloudCompare Version 2 6 1 user manual 87 Point picking Menu Icon os This tool is accessible via the 2 icon in the main upper toolbar or the Tools gt Point picking menu Description The main purpose of this tool is to let the user pick one two or three points so as to get various pieces of information most notably the distance between two points Different kind of labels can be created this way El By lt 0 E 9 w Illuminance PCV 0 847458 Point 596 Y 4242 541992 18552 710938 fam 13398 113281 Distance 2128 458536 1 12 303223 1484 2128 429199 2128 393555 16 631804 dZ 11 191406 EFAS 2128 422852 3475 Es 4898447 953907 133333 f 7202750 731628 197251 Y 3732664 579328 0 184999 0 217080 AZ l ______ 6500 Procedure The tool can be launched directly No selection needs to be made any kind of point can be picked A toolbar will appear in the top right corner of the 3D view One of the following actions can be chosen e spawn a specific label
82. al 121 Extracted contour close up with the slice cloud Notes e you can easily cancel delete the last generated contour by clicking on the revert icon next to the oS button to extract a non closed contour see the Segmentation gt Extract Sections tool Extract several slices or contours To extract several slices or contours at once click on the Extract multiple slices icon in the right Slices frame CloudCompare will open a dialog Repeat Repeat dimensions V Extract contour s Max edge length 0 500000 project slice s points on their best fit plane J split contour s on longer edges visual debug mode Other options 0 000000 Most of the parameters are the same as for the Single section extraction dialog see above The user must however explicitly specify if he wishes to generate contours check the Extract contour s checkbox to enable the associated frame Otherwise only slices will be generated Other parameters are e Repeat dimension the extraction process can be repeated in one or multiple dimensions by default only the flat dimension will be checked e Gap a gap can be added between each slice e random colors per slice if checked a random color will be assigned to each slice warning any existing colors will be overwritten CloudCompare Version 2 6 1 user manual 122 Multiple slices left and contours right extraction Reset
83. ameter for the version 2 6 1 It lets the user specify the actual portion of the data registered cloud that would actually overlap the model reference cloud if both clouds were registered This let the user register entities with only a partial overlap down to 10 or even less e Adjust scale the modified ICP algorithm we use is able to determine a potential difference in scaling If your clouds have different scales e g photogrammetry clouds you can check this option so as to resolve the scaling as well Advanced parameters You can optionally set additional research parameters some of which are not yet validated so that if you change them you might get unexpected results e Random sampling limit to drastically increase computation speed on big clouds we use an optimization scheme It consists in randomly sub sampling the data cloud at each iteration This parameter is the maximum number of sub sampled points The default value 50000 is generally a good guess and its incidence on the result is not perceivable However it may be insufficient for very large clouds So if you doubt about the results or if you want to refine the registration even more and you are not afraid of waiting a long time don t hesitate to increase this value to fully deactivate this optimization scheme simply input a number greater than the data cloud size e Rotation you can constrain the rotation around a given axis X Y or Z e Translation you can constra
84. ance Additionally this tool can e repeat the segmentation process in one or several dimensions to extract multiple slices for instances e extract polygonal contours in each slice Procedure Select a single cloud and start this tool Z Show interactors Box thickness X 126 97941589 Y 151 30789185 Z 115 40101624 advanced Contour Slices O 9 E 5o e Apg Shift box Ga Go Ge Gad Ge A dedicated dialog will appear in the top right part of the 3D view Note the initial clipping box is the cloud bounding box Editing the clipping box The clipping box can be edited in various ways Interactively You can drag the interactors big red green and blue arrows and tori so as to move the clipping box boundaries directly in the 3D view The arrow tips are used to push and pull the clipping box faces while the tori can be used to rotate the box around the arrow axes You can also translate the whole box with the lower left yellow interactor CloudCompare Version 2 6 1 user manual 119 Note you can show or hide the interactors with the Show interactors checkbox in the top left part of the dialog Numerically You can directly edit the box dimensions width depth and height with the X Y and Z fields You can also shift the box in all directions with the buttons in the lower part of the dialog Shift box frame The box will be shifted of the same quantity as the box width in
85. anges the computation time The main idea is that the higher the subdivision level is the smaller the octree cells are Therefore the less points will lie in each cell and the less computations will have to be done to find the nearest one s But conversely the smaller the cells are and the more cells may have to be searched iteratively and this can become very slow if the points are far apart i e the compared point is far from its nearest reference point So big clouds will require high octree levels but if the points of the compared cloud are rather far from the reference cloud then a lower octree level is better e Max dist if the maximum distance between the two clouds is high the computation time might be awfully long as the farther the points are the more time it will take to determine their nearest neighbors Therefore it can be a good idea to limit the search below a reasonable value to shorten the computation time All points farther than this distance won t have their true distance computed the threshold value will be used instead e signed distances not available for cloud to cloud distance e flip normals not available for cloud to cloud distance e multi threaded whether to use all CPU cores available warning the computer might not be totally responsive during the computation CloudCompare Version 2 6 1 user manual 107 e split X Y and Z components generate 3 more scalar fields corresponding to the absolute
86. arding their computation e Default the normals are computed thanks to the normal scale parameters defined in the previous tab e Multi scale for each core points normals are computed at several scale and the most flat is used e Vertical no normal computation is done only purely vertical normals are used perfect for 2D problems e Horizontal normals are constrained in the XY plane Alternatively you can also use the cloud original normals if any by checking the use cloud 41 normal checkbox on the first tab The orientation options let you help the plugin to properly orient the normals e either by specifying a global orientation relatively to a given axis or a particular point e or by specifying a cloud containing all the sensor positions Advanced The Advanced tab contains advanced parameters Their name should talk for themselves They can be ignored by most users Output You can choose to generate additional scalar fields and also on which cloud the measurements should be re projected especially useful if you use core points different from the first input cloud Save load parameters Note Parameters can be saved and re loaded via dedicated text files Use the two icons on the bottom left part of the dialog to do this Computing distance When ready simply click on the OK button Once finished the dialog will be closed You will generally have to hide the input clouds to see the result generated in a new
87. arily meaningful If this value is left to zero then all the triangles output by the Delaunay triangulation will be kept Note for 3D triangulation refer to the qPoissonRecon Poisson Surface Reconstruction plugin Mesh gt Convert texture material to RGB Menu This tool is accessible via the Edit gt Mesh gt Convert texture material to RGB menu Description Converts the mesh material and or texture information of the selected mesh to a per vertex RGB field For each vertex of the mesh this method will interpolate the nearest texture color or take the triangle s associated material color if no texture is available Warning if the vertices are sparse the visual rendering of the output RGB field might be quite different than the original one Mesh gt Sample points Menu Icon This tool is accessible via the Edit gt Mesh gt Sample points menu or the ES icon in the upper main toolbar Description Randomly samples points on a mesh foe See a 0 Points Number Density 1000000 V generate normals get colors V from RGB V or from material texture if available Cancel Edit gt Mesh gt Sample points dialog The user can either specify the total approximate number of points to be sampled or the surface density number of points per square units This method is able to export the normals and color information from the original mesh by interpolating those pieces of information inside each tria
88. asonable frame rate with up to 150 million points 1 http en wikipedia org wiki Quantization 2 http en wikipedia org wiki Z order curve CloudCompare Version 2 6 1 user manual Recent evolution While the project has started in 2004 at EDF R amp D it has only been released in the public domain around 2009 under GPL license As CloudCompare is on open source project everyone is free and welcome to extend its capabilities Don t hesitate to ask questions and share your experiences on the forum and to take a look at the Github source repository License The license of the CCLib library containing the core algorithms is LGPL version 2 0 Therefore CCLib can be integrated in any commercial or non commercial project You just have to share any modification of the code with the authors us The license of the other components is GPL version 2 0 e qCC db database library e qCC_io file I O library e qCC_gl OpenGL based 3D display library e CloudCompare and ccViewer standalone applications Therefore only GPL compatible which means open source but doesn t necessarily means free projects can use those components Online version The latest version of the user documentation can be found at http www cloudcompare org doc wiki 3 http www cloudcompare org forum https github com cloudcompare trunk gt http www gnu org licenses lgpl 2 0 html 6 http www gnu org licenses gpl 2 0 html CloudC
89. ation of the true distance to the reference surface Not as precise as a true global model but much easier to compute CloudCompare Version 2 6 1 user manual 29 Precise results qA a i General parameters Local modeling Local model 2D1 2 Triangulation v oe NONE 2 Points KNN Least Square Plane 6 A Height Function use the same model For all its points When CloudCompare has determined the nearest point in the reference cloud the idea is to locally model the reference cloud underlying surface by fitting a mathematical model on the nearest point and several of its neighbors The distance from each point of the compared cloud to its nearest point in the reference cloud is replaced by the distance to this model This is statistically more precise and less dependent on the cloud sampling it can locally produce strange results as the modelling phase is very limited but it gives much better results on a global scale local model measured distance true distance With the latest version of CloudCompare the user can fully setup the way the job is done by choosing e the mathematical model either the least square best fitting plane or a 2D1 2 Delaunay triangulation or a quadratic height function the latter being the more precise but also the longer to compute e the way the neighbors are extracted around each nearest point in the reference cloud either by setting a
90. ation we need Scalar fields Among all features that can be associated to a point cloud colors normals etc one has a particular place in CloudCompare the scalar field A scalar field is simply a set of values one per point e g the distance of each point to another entity As each value is associated to a point or vertex it is possible to display those values as colors with custom color ramps or to apply filters on them smooth gradient etc some basic math operations exp log power of 2 or 3 cos sin tan etc and of course to segment the cloud relatively to those values thresholding local statistical filtering etc CloudCompare can handle multiple scalar fields on the same cloud It is even possible to apply simple arithmetic operations between two scalar fields of a same cloud Some technical considerations Portable CloudCompare is developed in C It is currently compiled on Windows Linux and Mac OS thanks to CMake and for 32bits and 64bits architectures Trade off between storage and speed Here are some details about the technical choices that have been made in CloudCompare mainly to achieve the goal of loading as much points as possible without downgrading too much performances i e a good trade off between storage and speed e all stored values and most of computations are done with 32bits floating point values e to prevent any limitation on the size of arrays as it s hard to g
91. be used lower part of the dialog e either the whole cloud CloudCompare Version 2 6 1 user manual e orasub sampled version of the input cloud e or eventually a custom set of core points typically a previously sub sampled version of the input cloud or a rasterized version The other important parameters are the normal and projection scales e the normal scale is the diameter of the spherical neighborhood extracted around each core point to compute a local normal This normal is used to orient a cylinder inside which equivalent points in the other cloud will be searched for Regarding normals more advanced options can be set in the Normals tab see below e the projection scale is the diameter of the above cylinder e the max depth parameter simply correspond to the cylinder height in both directions Note the bigger those radii are the less local surface roughness and noise will have an influence But also the more points will be averaged and the slower the computation will be Eventually if you now the global registration error if your cloud has been generated by registering several stations typically you can input it in the registration error field It will be taken into account during the confidence computation for each point that let you know if the corresponding displacement is significant or not Normals Using clean normals is very important in M3C2 The second tab let you specify more advanced options reg
92. blank cloud Note SSAO requires a contiguous depth map Therefore if your cloud is too sparse at the current viewing zoom you must increase the point size so as to fill the holes 52 http en wikipedia org wiki Screen space ambient occlusion CloudCompare Version 2 6 1 user manual Appendix Command line mode Since version 2 3 2012 12 11 CloudCompare can be used in command line mode By default this mode only opens a small console window applies the requested actions and eventually saves the result in a file in the same directory ies as the input file s Commands are applied in the order they are written like a state machine Available options version 2 6 1 and higher 171 Command Description SILENT enables silent mode no console will appear Warning must be first if required O filename opens a file If the file format is ASCII optional settings are e SKIP number of lines to skip If set CC will automatically skip the specified number of lines For all formats optional settings are version 2 5 6 and above e GLOBAL_SHIFT AUTO or x y z If set CC will either handle big coordinates automatically AUTO or apply the specified Global Shift vector x y z Note file type is automatically guessed from its extension COMPUTE_NORMALS forces CC to compute normals at loading time which is generally more robust when importing files containing structured clouds i e PTX and DP
93. cal Surface of Revolution The surface of revolution is simply defined by a 2D profile Once the distances are computed the plugin lets the user create a 2D map of deviations either with a cylindrical or a conical projection 2 dstre mep Surface of Fevolution e ti Propection canica Distance mm Mao Coplay Gararatrt Fasora 43 052539 Perc tion YL Do Jyp 100 deg an se 2 22 289479 hag it sep LODD S ww pated 1526320 De 20x 1235 cow Lets 19 236840 Mn Mye one 1 40 000000 Wyt IV e0 NEWS 1 476 1123763 tiro x l 106 70 038609 strategy average value r arty cals eave aty 12 100 077217 14 130 115826 N map A O 160 154434 ASCII grid rr KE J 36 72 10 144 2 E C Loading a 2D profile 5 2D profiles can be loaded with the Plugins gt qSRA gt Load profile menu entry or the equivalent icon in the plugin s toolbar The corresponding dialog will mainly ask the user to specify a 2D profile TXT file the expected format is recalled directly above the Profile file field Xc Yc Zc profile origin 4667 000 10057 000 171 000 R H radius and height of profile vertices 59 3235190427553 28 685 58 8177164625621 30 142 58 32550519856 31 594 57 8404034801208 33 044 Don t change the header lines Xc and R don t add blank lines etc Notes e The profile origin is a point on the revolution axis corresponding to zero height H 0 by default see
94. cloud CloudCompare Version 2 6 1 user manual 166 167 M3C2 distance 1088 77 944 38 0 00 551 00 1101 99 5000 Note that in addition to the distances the M3C2 plugin generates several other scalar fields e distance uncertainty the closer to zero the better e change significance whether the distance probably correspond to a real change or not e and optionally the standard deviation and number of neighbors at each core point as specified in the output tab Note also that points without any corresponding points in the other cloud stay in gray they are associated to NaN not a number distances This means that no points in the other cloud could be found inside the search cylinder Therefore gray points means that either some parts of the clouds have no equivalent in the other cloud due to hidden parts or other holes in the datasets or simply that the cylinder maximum length is not long enough CloudCompare Version 2 6 1 user manual 168 qCork Boolean Operations on Meshes Presentation This plugin can be used to perform Boolean operations on meshes also called CSG Constructive Solid Geometry It is based on the Cork library Procedure Its usage is pretty straightforward e select two meshes meshes should be ideally closed otherwise the output might be wrong e click on the plugin icon or the equivalent entry in the Plugins menu Plugins gt Mesh Boolean Operations
95. cloud or by providing your own core points a rasterized version of the input cloud for instance You can even directly open a msc file generated by the original CANUPO suite developed by Nicolas Brodu Eventually and whatever the choice you ve made for core points all the points will be classified The classification result for a given core point is propagated to its nearest neighbors Therefore using core points instead of the whole cloud might just be a little less accurate on the borders and once you are happy with the results you can launch the same classification process on every points in the cloud and go take a coffee Note that the plugin always generates on the input cloud an additional scalar field with the classification confidence CloudCompare Version 2 6 1 user manual 163 164 CANUPO confidence 0 250053 A A A te Acknowledgments The plugin creation has been financed by Universit Europ enne de Bretagne and CNRS E eb 2 E r 3 UNIVERSIT EUROP ENNE DE BRETAGNE SEVENTH FRAMEWORK pi FOGAAMM E ACTIONS ES gt D m 0 C D m CloudCompare Version 2 6 1 user manual 165 qM3C2 Robust C2C Distances Computation Introduction The M3C2 plugin is the unique way to compute signed and robust distances directly between two point clouds Significant Measured change change 2009 2011 e i i e e 5 i Ye Y SAR vi ANA da f
96. cloud that wouldn t be seen by the current 3D camera if the cloud was a closed surface Therefore it tries to remove the points that should be hidden in the current viewport configuration Therefore if you use this tool for a scientific publication please cite the author before citing CloudCompare which is also very good but less important in this particular case Usage This algorithm only works if the 3D view in which the selected cloud is displayed is in perspective mode The user than has to set the octree level at which the cloud will be approximated the greater the finer the result will be but also the longer the computation will be In the latest versions of CloudCompare the plugin outputs a new cloud with only the visible points CloudCompare Version 2 6 1 user manual 151 qKinect Point Cloud Acquisition with a Kinect Description This plugin allows for the acquisition of colored point clouds with a Kinect device Requirements This plugin requires e a Kinect device e libfreenect drivers installed on Windows be sure to follow the libfreenect driver installation instructions See http openkinect org wiki Main Page for more information on the OpenKinect libfreenect project qPCL Point Cloud Library Wrapper Introduction qPCL is a simple interface to some methods of the PCL library Therefore if you use this tool for a scientific publication please cite the PCL project before citing Cloud
97. cornell edu snavely bundler CloudCompare Version 2 6 1 user manual 72 Sensors gt Camera Sensor gt Project uncertainty Menu This tool is accessible via the Edit gt Sensors gt Camera Sensor gt Project uncertainty menu Description Projects the camera model uncertainty a point cloud Output consists in several scalar fields e uncertainty along the X axis e uncertainty along the Y axis e uncertainty along the Z axis e 3D uncertainty norm of the uX uY uZ vector Sensors gt Camera Sensor gt Compute points visibility with octree Menu This tool is accessible via the Edit gt Sensors gt Camera Sensor gt Compute points visibility with octree menu Description Flags the points of a cloud depending on whether they are viewed by the selected camera sensor or not The visibility check is done for the active camera position Per point visibility information is stored in a scalar field e O NOT VISIBLE e 1 VISIBLE Frustrum visibility 0 875000 0 750000 0 625000 0 500000 0 375000 0 250000 0 125000 0 000000 Result of a visibility computation CloudCompare Version 2 6 1 user manual 73 Sensors gt View from sensor Menu Icon This tool is accessible via the Edit gt Sensors gt View from sensor O menu Description Changes the current 3D view camera settings to match the selected sensor settings bubble view mode Notes e the camera display mod
98. ction CloudCompare Version 2 6 1 user manual 37 Save Menu Icon This tool is accessible via the File gt Save menu or the amp icon in the upper main toolbar Description This tool let the user save export one or several entities to a file Rechercher dans M Organiser Nouveau dossier Le Images a Nom Modifi le Kinect e de FBX 12 12 2013 10 de Laser de W 16 04 2013 21 2 di MA 16 04 2013 21 2 do MNT MNS 25 11 2009 22 4 de obj 20 05 2014 22 do Modeles dD Rasters J sHP L Users 25 07 2014 11 7 de Jury s a eile dy VRML 25 07 2013 22 1 de VTK 27 02 2014 174 dy 3D 25 11 2009 22 2 P 4 p Lo Matlab o Rapports Le Softwares Nom du fichier v Type BIN CloudCompare binaries bin Y File gt Save dialog Procedure Select one or several entities then call this method Warnings e be sure to select the right file type in the Type drop down list e depending on the entities number and types the available file types may change e some file types don t support non ASCII characters accents non occidental characters etc Supported formats See the supported file formats in the Supported file formats section CloudCompare Version 2 6 1 user manual 38 Primitive Factory Menu Icon This tool is accessible via the File gt Primitive factory menu or the A icon in the upper main toolbar Description The Primitive Factory
99. d in Group entities a This is why the database is displayed as a hierarchical tree a Y Clouds G11 B20_R Cloud gt K 97 70_R Cloud G11 9 23_R Cloud 4 Mesh gt f P1991 3 3 5 HiRes Viewport 1 New group E Camera Link Drag and drop Most of the entities can be drag and dropped In the DB tree so as to regroup them typically Entities dependent on others are generally bound to their parent however abels vertices etc Selection Entities can be selected either directly in a 3D view by left clicking on it or by clicking on their corresponding entry in the DB tree which is generally faster and unambiguous Multiple entities can be selected at once by maintaining the CTRL or SHIFT keys pressed and selecting them in the DB tree Equivalently the user can select multiple entities by holding the CTRL key and clicking on entities in the 3D views Another option is to hold the ALT key and drawing a rectangle in a 3D view This way all the entities falling at least partly inside the rectangle will be selected 5000 Selection inside a rectangle hold the ALT key while drawing the rectangle with the left mouse button pressed Context menu A context menu can be spawned by clicking on an element of the DB tree with the right mouse button Its content depends on the type of the element CloudCompare Version 2 6 1 user manual Information recursive Toggle Toggle visib
100. d texture DXF dxf Autocad DXF X ASCII gt 1 gt 1 Polyline s Normals format Colors RGB SHP shp ESRI Shape file X binary gt 1 Polyline s polygon s Scalar fields 1 per entity format Contour plot s etc PDMS pdms PDMS macros ASCII gt 1 Primitive s pdmsmac mac RASTER geotiff Common raster Xx binary 1 Layers as scalar fields etc formats GDAL OUT out Bundler SfM output ASCII 1 Calibrated picture s Bundler file 8 3D keypoints 2D images jpg Standard images binary png bmp etc PV pv Point cloud scalar X binary 1 Scalar field 1 field PN pn Point cloud normals X binary 1 Normals SOI soi Mensi Trimble ASCII gt 1 Colors 1 Soisic laser scanner POV pov Multiple stations ASCII gt 1 All sensor poses meta file both ICM icm Cloud calibrated ASCII 1 Picture s All camera poses pictures both Geo georef Mascaret profiles ASCII Profiles Mascaret polylines Sinusx SX Sinusx curves X ASCII Polylines CSV CSV Cloud as 2D1 2 ASCII 1 matrix matrix 19 13 http en wikipedia org wiki FBX 14 http en wikipedia org wiki AutoCAD DXF 15 http en wikipedia org wiki Shapefile 16 http en wikipedia org wiki GDAL 17 Use the Projection gt Rasterize tool to export raster files 18 http phototour cs washington edu bundler 13 http chercheurs edf com logiciels code mascaret 41197 html CloudCompare Version 2 6 1 user manual
101. ding the CTRL key while pressing the right mouse button and moving the mouse This light can be enabled or disabled with this tool Shaders and Filters gt Remove filter Menu This tool is accessible via the Display gt Shaders amp filters gt Remove filter menu or the equivalent Remove filter button in the upper GL filters toolbar Description This method disables any active shader or OpenGL filter Remove filter Blur shader OpenGL filters are special plugins that are dynamically loaded at startup Therefore their number and names can change See the qEDL Eye Dome Lighting and qSSAO Screen Space Ambient Occlusion plugins for instance Active scalar field gt Toggle color scale Menu This method is accessible via the Display gt Active scalar field gt Toggle color scale menu Alternatively this method can be called with the CTRL C shortcut an entity with an active scalar field must be selected Description This method toggles the color scale visibility for the active scalar field of the selected entity cloud or mesh Classification 9 500000 8 000000 5 000000 2 000000 Notes e itis equivalent to check the Visible checkbox of the Color Scale section of the entity s properties e as only one color scale can be visible at a time make sure no color scale is currently displayed Active scalar field gt Show previous SF Menu This method is accessible via the Display gt Active
102. e if Compared pat_gv_after paz Reference pa4_gw before a Can Approximate distances When the Cloud Cloud distance computation dialog appears CloudCompare will first compute approximate distances which are used internally to automatically set the best octree level at which to perform the real distances computation see below The reference cloud is hidden and the compared cloud is colored with those approximate distances Some statistics on those approximate distances are displayed in the Approx results tab but they shouldn t be considered as proper measurement values Those statistics are only provided for advanced users who would like to set the octree level at which computation is performed themselves however this is generally not necessary The user must compute the real distances see the red Compute button or cancel the process Parameters Distance computation Compared malakoff_2jours_simple Cloud 0 Reference malakoff_2jours_simple Cloud 1 Precise results General parameters Local modeling al Approx results Octree Level 7 E Max dist Y multi threaded F split X Y and Z components Compute Cancel The main parameters for the computation are e Octree level this is the level of subdivision of the octrees at which the distance computation will be performed By default it is set automatically by CloudCompare and should be left as is Changing this parameter only ch
103. e N n R e avolume density number of neighbors divided by the neighborhood volume N 4 3 11 R Surface density r 250 0 002236 0 001879 0 001523 0 001166 0 000810 0 000407 AAA 20000 Density output example Note a point with no neighbor in the spherical neighborhood will have an invalid NaN density CloudCompare Version 2 6 1 user manual 132 Other gt Curvature Menu This tool is accessible via the Tools gt Other gt Curvature menu Description This tool evaluates the curvature of a point cloud Procedure Select one or several point clouds then start this tool A dialog will appear Curvature Curvature Gaussian sx kernel 0 250000 a Pr Parameters e Curvature choose the curvature type Mean Gaussian or the simpler Normal change rate e kernel neighborhood size for quadric fitting see Notes below Gaussian curvature 0 25 9 279650 8 560231 7 840812 7 121392 6 401973 9 682554 4 963135 4 243716 3 182787 2 121858 1 060929 Curvature output Notes e the curvature at each point is estimated by best fitting a quadric around it e if there s not enough neighbors to compute a quadric i e less than 6 an invalid scalar value NaN is set for this point This point will appear in grey or not at all if you uncheck the display NaN values in grey option of the scalar field parameters 39 http en wikipedia org wiki Mean cu
104. e Wiel ms SF name must be unique value 42 00000000 Edit gt Scalar Fields gt Add constant SF dialogs left SF name right SF value Note useful in conjunction with the Scalar fields gt Arithmetic tool Scalar fields gt Add point indexes as SF Menu Icon This tool is accessible via the Edit gt Scalar fields gt Add point indexes as SF menu Description Creates a new scalar field on the selected cloud s with the point indexes i e their order of creation or the order in which they have been read from the originating file as scalar values 832688 728602 624516 520430 416344 312258 208172 104086 0 Edit gt Scalar Fields gt Add point indexes as SF example CloudCompare Version 2 6 1 user manual 81 Scalar fields gt Export coordinate s to SF s Menu This tool is accessible via the Edit gt Scalar fields gt Export coordinate s to SF s menu or the Tools gt Projection gt Export coordinate s to SF s menu Description This tool lets the user export the points coordinates to one or several scalar fields CloudCompare will ask the user to select the source dimension s Export coordinates to SF Ex Ely Y z Warning already existing SF 5 with same name will be overwritten Edit gt Scalar Fields gt Export coordinate s as SF s dialog Each dimension will be exported to a scalar field with a predefined name Coord X Coord Y and
105. e box e for cubical boxes the same dimension in all directions you can check the keep square checkbox e you can recall the previous box if you call the tool several times by clicking on the Last button The Last button only appears if the tool has been called at least twice Eventually click on the OK button to crop the input clouds and create the corresponding subsets or click on the Cancel button to cancel the process Crop example the grey cloud has been cropped out of the original white cloud CloudCompare Version 2 6 1 user manual 51 Edit global shift and scale Menu This tool is accessible via the Edit gt Edit global shift amp scale menu Description This tool let the user edit the Global Shift Scale of the selected entity cloud mesh or polyline See the Global Shift and Scale section for more information Procedure Select an entity cloud mesh or polyline and start this tool A dialog very similar to the one that CloudCompare displays when an entity with big coordinates is loaded will appear shiftfscale informabon is stored and used to restore the original coordinates at export time Point in original coordinate system on disk Point in local y 5293286 500000 Shift 3545000 00 gt x 13 50000 z 442 670013 y 613 50000 293900 00 z 442 67001 0 00 X Scale 1 00000000 diagonal 992 14109 diagonal 992 141087 Keep orig
106. e choice between a relative error as S O R and an absolute error Eventually isolated points can be removed in the same run This algorithm locally fits a plane around each point of the cloud then removes the point if it s too far away from the fitted plane This filter can be basically considered as a low pass filter Input One or several clouds selected in the DB tree Parameters The user has to e choose either to extract a given number of neighbors around each point good for clouds with a constant density or to specify a ball radius the ball should be big enough to capture at least 6 points typically e input a max error distance of the point to the fitted plane so as to decide if a point is rejected or not The error can be relative as a factor of the neighbors re projection error on the fitted plane or absolute e eventually isolated points i e with less than 3 neighbors in the sphere can be removed during the process CloudCompare Version 2 6 1 user manual Filter noise Neighbors Points NN 2 Radius Sphere 6 0 072446 Max error Relative Absolute 1 00 1 000000 Remove isolated points Noise filter parameters Output A new cloud hopefully cleaner 3D View2 Loles C 30 View 1 ole ls Typical result of the Noise filter Note Due to the way the algorithm works it is very powerful on flat surfaces walls etc However especially if you use a too hi
107. e user can click anywhere on the histogram to make a vertical red line appear Next to this line will be indicated the corresponding class bin the percentage of points below this class and the corresponding scalar value Colors The histogram bin colors are the same as the color scale currently associated to the scalar field Scalar fields gt Compute statistical parameters Menu Icon pa This tool is accessible via the Edit gt Scalar fields gt Compute stat params menu or the AM icon in the upper main toolbar Description Fits a statistical distribution on the active scalar field values CloudCompare will first ask for the type of distribution to fit e Gauss Normal distribution e Weibull distribution CloudCompare will then fit the chosen distribution and display the result as a curve overlaid on the SF histogram 30 http en wikipedia org wiki Normal distribution 31 http en wikipedia org wiki Weibull distribution CloudCompare Version 2 6 1 user manual 76 Gauss mean 24 72 std dev 7 69 260 classes 900 50 40 30 20 C2M signed distances Edit gt Scalar Fields gt Compute stat params output The numerical parameters of the distribution are also displayed in the Console The Chi squared distance is also output so as to give an evaluation of the fitting process quality Folded Normal Distribution Beware that the Folded Normal distribution is not the same as the Normal distrib
108. e will automatically be changed to viewer based perspective e for GBL sensors it may be necessary to manually increase the 3D view camera f o v see Display gt Camera settings so as to get a more realistic display CloudCompare v2 5 6 beta 64 bits 3D Vi File Edit Tools Display Plugins 3DViews Help POSES EX 30D 7AREs er SM ats Remove filter Blur shader IS S E E Ei Je Nac SOR MLS Ka Fm ga um amp DB Tree zy Es 4 pump _scan2 ptx E These Donnees Laser a pump_scan2 Cloud E Ground Based Laser Scanner E E T Camera Link State Value Name pump_scan2 Cloud Visible Show name in3D Colors Scalar field v X 4 71941 Box dimensions Y 4 38308 Z 3 69611 X 0 629746 Box center Y 3 62998 Z 0 00495309 Info Object ID 4 Children 1 Current Display 4 E 3 Q mi m jE pmi y y Transformation his 18 28 33 PTX Detected yaw step 0 500803 degrees span 142 617 259 724 18 28 34 1 0 File pump_scan2 loaded successfully 18 28 34 VBO VBO s re initialized for cloud pump_scan2 Cloud 2 31 Mb 100 of points could be loaded 18 28 43 ApplySensorViewport Viewport applied Edit gt Sensor gt View from sensor example Ground Based Lidar sensor CloudCompare Version 2 6 1 user manual Sensors gt Compute ranges Menu This tool is accessible via the Edit gt Sensors gt Compute ranges menu
109. e y 0 e the quadric fitting RMS Notes e the fitted quadric is added to the DB tree as a child of the cloud e the quadric is represented as a standard triangular mesh Therefore you can select both the cloud and the fitted quadric and compute the distance between them with Tools gt Distances gt Cloud Mesh dist cloud to mesh distance CloudCompare Version 2 6 1 user manual 131 Other gt Density Menu This tool is accessible via the Tools gt Other gt Density menu Description This tool estimates the density of a point cloud Procedure Select one or several point clouds then launch this tool A dialog will appear Cloud Density Ea Method Precise radius 756 065002 C Approximate Output C Number of neighbors C Surface density Volume density a Gee Precise or Approximate Two methods can be used to compute the density e either Precise the density is estimated by counting for each point the number of neighbors N inside a sphere of radius R e or Approximate the density is simply estimated by determining the distance to the nearest neighbor which is generally much faster This distance is considered as being equivalent to the above spherical neighborhood radius R and N 1 Output The density output can be e the number of neighbors N only available in Precise mode e a surface density number of neighbors divided by the neighborhood surfac
110. edition is finished if the user clicks on the left button the edition process will start over i e the current segmentation polygon will be discarded Otherwise the user has to choose whether to keep points inside or outside dd the polygon Once done the other points will disappear as well as the polygon The tool will fall back in paused mode Paused mode In paused mode the mouse can be used to modify the entities orientation and position in the standard way The user has multiple choices e modify the current entities orientation and segment more points click on the Il button to leave the paused mode and define a new polygon rectangle e reset the current selection Ed CloudCompare Version 2 6 1 user manual 48 e validate the current segmentation and create two clouds one with the selected points and one with the others 4 e validate the current segmentation and create only one cloud with the visible points 1 the other points will be deleted e cancel the segmentation process A no modification will occur Polygon Import Export The user can import or export the current polygon as a flat 3D polyline m y Qi 0 KE is ve Use existing polyline E Export segmentation polyline Import A new segmentation polygon can be imported anytime with the Use existing polyline option It will be added to the root of the DB tree with a default name CC will display a simple list of al
111. ersions of the images declared in bundle out as well as the colored vertices of a pseudo DTM constructed from the keypoints Mesh format conversion Coua onea re e et OR EENT SNS TE EOR TT EMi T RS O OA VORT ME STANE AVE ME SES This will open the file named Foot ply then save it in FBX binary format same base filename without any decoration i e Foot fbx Shortcuts Here are listed the keyboard shortcuts version 2 6 and above Shortcut Description Ctrl 0 Open file Ctrl S Save selected entities Ctrl D Delete selected entities Alt C Set unique color selected entities Del Suppr Delete selected entity Z Zoom and center view on selected entities L Lock manual rotation around the vertical screen axis CloudCompare Version 2 6 1 user manual B Enter bubble view mode A Toggle selected entities activation V Toggle selected entities visibility recursive N Toggle selected entities normals visibility recursive C Toggle selected entities colors visibility recursive S Toggle selected entities SF visibility recursive M Toggle selected entities materials textures visibility recursive D Toggle selected entities 3D name visibility recursive Shift C Toggle selected entity color ramp visibility recursive Shift Up arrow Activate previous scalar field on selected entity Shift Down arrow Activate next scalar field on selected entity
112. erties Properties my Property State Value Name invalid ball Apply Viewport pply p Apply Point list picking Menu Icon This tool is accessible via the icon in the main upper toolbar or the Tools gt Point list picking menu Description This tool lets the user pick several points on a cloud so as to create a list of points count 11 a Bix w x Index 19488 18045 42655 41089 34644 X 2628 215332 1815 734741 1783 860596 734 388733 817 969971 m Y 18327 646484 18359 519531 17194 330078 16869 197266 17397 923828 _ Z 12148 592773 12109 695312 12014 100586 11577 443359 11800 773438 t a marker size 5 Point list picking tool in action This list can then be exported as e afile e anewcloud e a polyline picked points are simply connected It is very useful to create a Ground Control Points GCP list for instance Procedure startindex 1 A One and only one point cloud should be selected in order to launch this tool A dedicated dialog will then appear in the top right corner At any time the user can pick points on the selected cloud in the 3D view These points will be automatically added to the list CloudCompare Version 2 6 1 user manual 6500 Here are the actions that can be undertaken while the dialog is visible e cancel the last picking action 9 e export the list see below e change the marker size i
113. es Exporting the active sections polylines At any time the user can export all the generated or edited polylines to the main DB tree so as to export them to a file or simply to import them in this tool later Use the Pr icon to do this Notes e the exporter is smart and will only export the polylines that were not already exported This way this icon can be clicked several times without duplicating the polylines e all polylines are stored in a default group named Exported sections Undo An undo E icon can be used to undo the previous operations All polylines created during the last operation polyline edition import orthogonal section generation etc will be removed each time Notes e CloudCompare will ask the user to confirm the undo operation each time specifying the number of polylines that will be deleted this way e polylines previously exported to the DB tree will be removed from the active polylines set in the tool but they will remain in the DB tree e the undo history will be lost if the user selects a single polyline and deletes it with the DEL key Stopping the tool To leave the tool the user has two choices x e click onthe icon so as to quit right away warning unsaved polylines will be deleted e click on the Y icon in which case CloudCompare may warn the user that some polylines have not been exported to the main DB tree Fit gt Plane Menu This tool is accessible via the
114. es Manager Note if an entity is saved with a custom color scale into a BIN file and this file is loaded on another computer the color scale will automatically be imported in the other computer registry and thus will be available in the other instance s of CloudCompare on this computer Default color scales CloudCompare comes with various default color scales e Blue gt Green gt Yellow gt Red e Grey e Blue gt White gt Red e Red gt Yellow e Red gt White e Intensity 0 1 e HSV angle 0 360 Those color scales can t be edit or deleted Custom color scales The user can create a color scale from scratch New button or start from an existing one Copy button Two modes are available see the Mode combo box e relative a relative color scale will automatically span over the whole scalar field range therefore the color position are expressed as a percentage CloudCompare Version 2 6 1 user manual 84 e absolute an absolute color scale will have color steps defined at particular absolute values This is the standard way to get a consistent look with multiple clouds having equivalent scalar fields but with different ranges Naming Color scales can be renamed with the Rename button The name is not necessarily unique Save delete e each time a color scale is modified the user must click on the Save button to actually make CC remember the modifications CC will automatically ask the user if he wa
115. es cloud to cloud distance on the two first loaded generated clouds 1st compared 2nd reference Optional settings are e SPLIT_XYZ If set 3 additional scalar fields will be generated displacement along the 3 dimensions e MAX_DIST value to set a max distance above which CC won t have to search for a nearest neighbor faster e OCTREE_LEVEL value to manually set the octree subdivision level at which the computation will be performed e MODEL local_model_type neighborhood_type neighborhood_size to specify a local model e local_ model_type LS TRI HF e neighborhood type KNN SPHERE e neighborhood_size neighbor count if KNN or sphere radius if SPHERE Notes e result is automatically saved by default see the AUTO_SAVE command to change this e see below for more details C2M_DIST computes cloud to mesh distance between the first loaded generated cloud compared and the first loaded mesh reference Optional settings are e FLIP_NORMS to consider that normal vectors point inside the matter and not outside e MAX_DIST value to set a max distance above which CC won t have to search for a nearest neighbor faster e OCTREE_LEVEL value to manually set the octree subdivision level at which the computation will be performed Notes e result is automatically saved by default see the AUTO_SAVE command to change this e see below for more details STAT_TEST distrib distrib a
116. es of information will be output e plane fitting RMS e plane normal vector with a positive Z coordinate by default e dip and dip direction e a 4x4x transformation matrix that would make this plane horizontal see the Edit gt Apply Transformation method to use it for instance CloudCompare Version 2 6 1 user manual 130 Note the fitted facet is added to the DB tree as a child of the cloud About facets a Y E Contour points Y Contour V 2D polygon The facet entity is a composite entity e the base Facet entity holds some meta data the polygon surface center and normal as well as the fitting RMS e ithasa point cloud as child the contour points e this contour point cloud has itself two children o the contour as a polyline o the polygon as a mesh Fit gt Quadric Menu This tool is accessible via the Tools gt Fit gt 2 5D Quadric menu Description This tool fits a 2 5D quadric on a point cloud Procedure Select one or several point clouds then launch this tool For each cloud CloudCompare will fit a 2 5D Quadric the cloud is first projected on its best fit plane C2M signed distances 82 165924 32 535900 17 094124 66 724148 116 354172 a 1000 Fitted quadric distances between the original cloud and the fitted quadric In the console the following pieces of information will be output e the 6 quadric equation coefficients a b x c y d x
117. essellated triangles CloudCompare Version 2 6 1 user manual 12 4 V UY Primitives 4 Y amp Plane vertices H Compressed normals EN Box MA Sphere E dD Cylinder W 2h Cone 7 amp Torus 7 amp Dish Polyline A polyline is a set of points connected by contiguous segments The polyline can be closed i e a loop or not By default a polyline is a 3D object But they can also be 2D entities in which case they will be displayed as a 2D overlay object and their coordinates are always in pixels Internally a polyline is a set of indexes Those indexes are relative to an associated point cloud the polyline vertices Its vertices are stored as a point cloud which is generally a child of the mesh object in the DB tree For now polylines don t inherit the features of their associated cloud color normals etc However they can be associated to a single color RGB Point cloud associated structures a w Octree The octree structure is a very important structure in CloudCompare It is used by most of the processing algorithms distance computation spatial operators etc For general information about octree structures refer to htto en wikipedia org wiki Octree For more information about the practical implementation of the octree structure in CloudCompare see the CloudCompare octree section Sensors There are currently two kind of sensors in CloudCompare Ground Based Laser Sensor Poi
118. et a big contiguous block of memory on Windows 32 bits we use a custom container that automatically chunks datasets in small blocks 64 Kb per block e normal vectors if any are compressed on 16 bits 15 bits actually because of the way quantization works e the specific octree structure used in CloudCompare requires constant per point memory i e 8 bytes per point on a 32 bits OS with a maximum depth of 10 and 12 bytes on a 64 bits OS with a maximum depth of 21 It is based on a particular quantization of the 3D point coordinates a kind of Morton ordering scheme where each point position in the octree grid and at any level is represented by a single integer code We then process those codes to achieve very efficient nearest neighbors querying operations However while this octree structure is very efficient for computing distances for instance it s not suitable for fast display Level Of Detail etc The result of the above choices is that CloudCompare can store about 90 million blank points per gigabyte of memory If you add RGB colors normal vectors a single scalar field and if you need to compute the octree you can load up to 32 million points per gigabyte On a 64 bits OS you can load as many points as you want well up to 4 billion in fact However depending on your graphic card capabilities display and interactivity may be severely downgraded with this many points With a high end graphic card you can keep a re
119. evels Menu This tool is accessible via the Edit gt Colors gt Levels menu Description Edit the color histogram Similar to Photoshop s Levels method F hange Color Channel s Green Y A Input levels 0 104255 210000 175000 140000 105000 70000 35000 Output levels Edit gt Colors gt Levels dialog You can edit either all channels at once RGB or one channel at a time Red Green or Blue By default the main usage of this tool is to increase the color dynamics To do this you ll have to zoom in the global histogram The color values falling inside the sub range in which most of the information is will be extended so as to use the full 0 255 range In practical once you ve identified the smallest interval where most of the information lies e g 40 240 here set this new interval as Input levels then click on Apply Advanced users can also change the Output levels In which case the Input interval will be remapped to the Output one Note the dialog uses a standard histogram display so you can click on it to get information on the histogram bin hovered by the mouse CloudCompare Version 2 6 1 user manual 54 Colors gt Height Ramp Menu This tool is accessible via the Edit gt Colors gt Height Ramp menu Description To apply a color ramp linear gradient or cycling to the selected entities Gradient color Color ramp Default C Custom First
120. filter the points for which the local scalar values seem to fit the noise distribution This way you ll be able to ignore those points and only focus on the points with distances clearly out of the noise distribution Procedure Select a cloud and start this tool As for the Statistics gt Compute Stat Params tool CloudCompare will first ask the user to choose the distribution type e Gauss aka Normal distribution e Weibull distribution Distribution Gauss cancel Then another dialog will appear so as to let the user input the distribution parameters as well as the two algorithms parameters e p Chi2 the Chi2 test margin of error see below for more information e Neighbors the number of neighbors around each point on which to perform the test at least 10 This algorithm works best on clouds with a homogeneous density Local Statistical Test Gauss Noise model mu 20 0000D0 sigma 6 000000 p Chi2 0 000500 Neighbors 16 anas Cancel On completion a new scalar field will be generated on the input cloud Chi distances CloudCompare Version 2 6 1 user manual 114 CloudCompare will automatically set the minimum displayed and minimum saturation values to the theoretical Chi squared distance that corresponds to the input parameters This way all the grey points correspond to the points that follow the tested noise distribution The others points are not likely
121. first Transformation matrix For each selected entity but the first one the 4x4 transformation matrix corresponding to the applied translation will be issued in the Console CloudCompare Version 2 6 1 user manual Console 12 11 10 Synchronize Transformation matrix pdv4 Cloud 0 gt pdv3 Cloud 0 12 11 10 1 000000000000 0 000000000000 0 000000000000 386 583007812500 0 000000000000 1 000000000000 0 000000000000 610 383789062500 0 000000000000 0 000000000000 1 000000000000 101 469726562500 0 000000000000 0 000000000000 0 000000000000 1 000000000000 12 11 10 Hint copy it CTRL C and apply it or its inverse on any entity with the Edit gt Apply transformation tool Console output of the Match bounding box centers method Registration gt Match scales Menu This tool is accessible via the Tools gt Registration gt Match scales menu Description This tool lets will try to make the scales of all selected entities match The user must choose how the scale is computed This tool has been introduced in the 2 6 1 version Procedure Select at least two entities clouds or meshes then start this tool CloudCompare will display a dedicated dialog In the upper part the user can choose which entity will be the reference i e all others will be scale so as to match this one Reference entity G11 9 23_R Cloud ID 4 G11 B20_R Cloud ID 7 K 97 70_R Cloud I
122. g points The closest point set of A relatively to B CPSets A is the set of points from the B cloud that are closest to each point of A This set has Na points which all come from the B cloud Moreover the points of B can be duplicated several times in the output set as they can be the closest for different points of the A cloud Procedure To launch this tool the user must select two clouds and only two Then the user must choose which cloud will be the A cloud equivalent to the Compared cloud when computing distances at each ICP registration iteration as this is where this concept is used and which cloud is the B cloud equivalent to the Reference cloud Choose role CloudCompare Version 2 6 1 user manual 112 113 CloudCompare will then compute the closest point set and add it as a new cloud to the DB tree The Reference B cloud will be hidden as the closest point set will be a subset of it and therefore it wouldn t be visible Warning as stated above this cloud may have duplicate points Statistics gt Local Statistical Test Menu Icon This tool is accessible via the Tools gt Statistics gt Local Statistical test nM menu Description This tool can be used to segment filter a point cloud based on the local statistical behavior of the active scalar field For instance if the active scalar field corresponds to distances and you know the distribution of the measurement noise then you can
123. gh kernel radius or too low error threshold it will eat the corners To save the corners or sharp edges one can try to run the algorithm repeatedly with a small radius and relatively high error threshold CloudCompare Version 2 6 1 user manual Projection gt Unroll Menu This tool is accessible via the Tools gt Projection gt Unroll menu Description This method unrolls a point cloud from a cylindrical or conical shape onto a plane CUS wee AGS 800 Top cylindrical shape to unroll bottom cylindrical shape unrolled Procedure Select a cloud then start this tool Cylinder Type Axis Y Y Radius 465 Axis position Y 0 000000 Z 0 000000 V Auto gravity center 0K Jj canei Unroll cylinder dialog To unroll a cylindrical shape the parameters are e axis of revolution X Y or Z e radius e and optionally a point on the axis otherwise CloudCompare will use the cloud gravity center Cone Type S z y Half angle degrees 15 00 Projection radius 100 000000 Cone apex X 0 000000 Y 0 000000 Z 0 000000 Goma Unroll cone dialog CloudCompare Version 2 6 1 user manual 92 93 To unroll a conical shape the parameters are e axis of revolution X Y or Z e half angle this is the aperture angle at the cone apex in degrees e the cone apex position Projection gt Rasterize Menu Icon This tool is accessible via the Tools gt Projection gt
124. gt Apply Transformation tool e paste the 4x4 matrix in the first tab You can use the dedicated shortcut e g CTRL V on Windows or the clipboard button CloudCompare should automatically get rid of the block prefix time between brackets e youcan even apply the inverse transformation by checking the corresponding checkbox e g to go back to the previous position of the entity Apply transformation dialog CloudCompare Version 2 6 1 user manual 26 Cc Apply transformation Ea Matrix 4x4 Axis Angle Euler angles Enter 4x4 matrix values ASCII file clipboard help 0 999863982201 0 016358006746 0 002093190327 278 330566406250 0 016347926110 0 999855101109 0 004745850340 63 369140625000 0 002170519670 0 004710985813 0 999986529350 85 946289062500 0 000000000000 0 000000000000 0 000000000000 1 000000000000 _ Apply inverse transformation OK Cancel Apply transformation dialog This trick can be very useful to perform registration on a small portion of a cloud which you would have segmented beforehand typically with the Interactive Transformation tool Then you can apply the same transformation to the whole cloud afterwards or to another entity mesh etc See the Alternative method for registering partially overlapping clouds section below Alignment CloudCompare offers various ways to roughly or finely align point clouds or meshes Match bounding box centers The
125. he icon in the left View toolbar or the Display gt Toggle Viewer based Perspective menu Alternatively you can use the F4 shortcut Description This method toggles the current projection of the active 3D view between the orthographic and viewer based perspective modes see the Display modes section Lock rotation about vert axis Menu This method is accessible via the Display gt Lock rotation about vert axis menu Alternatively you can use the L shortcut Description This method simply locks the camera rotation around the vertical Z axis in the active 3D view CloudCompare Version 2 6 1 user manual 136 When activated a ROTATION LOCKED message will appear in the top part of the 3D view ROTATION LOCKED 3000 Simply call this method again or use the L shortcut to disable this mode Enter bubble view mode Menu This method is accessible via the Display gt Enter bubble view mode menu Alternatively you can use the B shortcut Description This method enables the bubble view mode See the CloudCompare Version 2 6 1 user manual 137 Bubble view polar section Render to File Menu This tool is accessible via the Display gt Render to file menu Description This tool can render the current 3D view as an image file most of the standard file formats are supported It can also apply a zoom so as to render the screen to a much highe
126. he current settings are e the generation step i e the distance along the path between two orthogonal sections e the orthogonal sections width A last option named auto save and remove generatrix will tell CloudCompare to remove the selected polyline path from the active polylines after having saved it to the main DB tree This is useful as afterwards the profile extraction method will use all active sections and it is generally not interesting to generate a profile along the main path However in case the orthogonal sections generation settings were not correct the user can still undo this import the path from the DB tree see above and restart the process Generating cloud slices and profiles Once one or several sections have been edited imported generated the user can ask CloudCompare to extract the corresponding cloud slices and or to generate polygonal profiles CloudCompare Version 2 6 1 user manual Active section s 56 Sections thickness P 464000 Extract section doud s No parameter V Extract section profile s type max edge length 2 464000 A split profile on longer edges visual debug mode a Warning all the active polylines will be used The main parameter is the section virtual thickness For each section polyline CloudCompare will extract all the points within this thickness in 2D The thickness defined here is the total thickness i e half of it on one side and t
127. he numerical output precision for ASCII files only precision is a positive integer default 12 e SEP separator to specify the separator character for ASCII files only separator can be one of the following string SPACE SEMICOLON COMMA or TAB default SPACE e EXT extension to specify the file extension typically different from the default one for the chosen format M_EXPORT_FMT format Specifies the default output format for meshes Format can be one of the following BIN OBJ PLY STL VTK MA FBX Optional settings are e EXT extension to specify the file extension typically different from the default one for the chosen format FBX_EXPORT_FMT format Specifies the default output format for FBX meshes Must be specified in addition to M_EXPORT_FMT if FBX format is chosen Format can be one of the following FBX_binary FBX_ascii FBX_encrypted FBX_6 0_binary FBX_6 0_ ascii FBX_6 0_encrypted Note if the input format is not supported by the current implementation a list of available formats will be output in the console PLY_EXPORT_FMT format Specifies the default output format for PLY files Format can be one of the following ASCII BINARY_BE big endian or BINARY _LE little endian Note default output format is binary LE BE depending on the current OS NO_TIMESTAMP to prevent CC from generating an automatic suffix timestamp for output file name warning this make the name
128. he other half on the other side Then the user can choose to generate the clouds corresponding to each section Simply check the Extract section cloud s option no parameter The user can also choose to generate profiles In this case check the Extract section profile s option then set the following parameters e type profiles can be of three types Lower Upper or Both In effect from each section cloud a 2D contour can be extracted the same concave hull algorithm as in the Segmentation gt Cross Section tool is used By default it s a closed contour So the user has to choose if the profile should be the lower part of this contour or the upper part or both in which case the whole contour is extracted e max edge length this is the main parameter of the concave hull extraction algorithm See the Segmentation gt Cross Section tool documentation Additional options are e split profile on longer edges it is possible to split the generated profiles contours on edges that are longer than the specified max edge length e visual debug mode for debug use can be used to understand why the algorithm doesn t output what one would expect Extracted profiles CloudCompare Version 2 6 1 user manual 126 127 Notes e all section cloud s are stored in a default group named Extracted sections e all section profiles s are stored in a default group named Extracted profil
129. his tool is accessible via the Edit gt Normals gt Orient normals gt with Fast Marching menu Description This method attempts to re orient all the normals of a cloud in a consistent way It starts from a random point then propagates the normal orientation from one neighbor to the other The propagation is done with the Fast Marching algorithm applied to a grid In practical this grid is the cloud octree considered as a given level of subdivision Therefore the user must specify this level of subdivision The problem is to find the right level if the cells are too big i e low level of subdivision the propagation is not very accurate However if the cells are too small i e high level of subdivision empty cells might appear and the propagation in one sweep won t be possible Warning this method is very fast but very approximate It is highly advised to use the Normals gt Orient Normals gt With Minimum Spanning Tree method instead CloudCompare Version 2 6 1 user manual Normals gt Convert to gt HSV Menu This tool is accessible via the Edit gt Normals gt Convert to gt HSV colors menu Description Converts the normals of a cloud to an HSV color field H dip direction S dip and V 1 Edit gt Normals gt Convert to HSV colors example Normals gt Convert to gt Dip and Dip direction SFs Menu This tool is accessible via the Edit gt Normals gt Convert to gt Dip and dip di
130. ices Therefore a mesh inherits of all the features associated to a point cloud see above In addition a mesh can be associated to e per triangle normal vectors Nx Ny Nz e per triangle materials e per triangle texture coordinates textures A standard mesh generally corresponds to a single object Its vertices are stored as a point cloud which is generally a child of the mesh object in the DB tree rin00 obj D These Donnees M C vertices Cy Sub meshes When importing a mesh with multiple parts from OBJ or FBX files for instance or when merging multiple meshes CloudCompare can create sub meshes They are subsets of a main mesh and can therefore only be child of this parent mesh They all share the same set of vertices and the same features a Y Bldngl06 W ES Compressed normals 7 E Object _1 V E Object_2 Y amp Object_3 vertices he Primitives Primitives are a special kind of meshes They can be created with the Primitive Factory or with the Tools gt Fit methods or also imported from CAD formats e g PDMS macros Primitives are described by simple parameters radius height etc However they are associated to a tessellated representation i e a proper triangular mesh This way they can be used as standard meshes for distance calculation etc Note for some primitives spheres cylinders etc the user can change the drawing precision i e the amount of t
131. ields gt Delete menu or the i Description Deletes the active scalar field of the selected entities Warning action is immediate no confirmation Scalar fields gt Delete all Menu Icon This tool is accessible via the Edit gt Scalar fields gt Delete all menu Description Deletes all the scalar fields of the selected entities Warning action is immediate no confirmation CloudCompare Version 2 6 1 user manual mo l 7 A x icon in the upper main toolbar 85 86 Tools menu Level Menu Icon This tool is accessible via the Tools gt Level menu or the 4 icon in the left toolbar Description This tool lets the user pick three points on a horizontal surface so as to rotate the cloud and make the corresponding plane parallel to the XY plane 3rd click Pick three points on the floor plane click on icon menweritry again to cancel Left Tools gt Level in action right result Procedure Select one or several entities clouds or meshes or a group of such entities then start the tool A message will appear at the bottom left of the 3D view Pick three points on the floor plane etc Simply click on the floor plane in three different places Once the third point is picked CloudCompare will automatically transform the selected cloud s so as to make the plane defined by the 3 points horizontal Notes e try to pick the points as far as possible from e
132. iew e since version 2 6 1 you can optionally check the white sphere icon top right corner and set a search radius roughly the radius of the registration spheres in your scans if you know it Once activated CC will try to detect a sphere in the cloud around each point you pick If successful it will use the sphere center as registration point Note that the input radius is only indicative it will be used to search points around the one you pick CC will then automatically detect the best fit sphere radius it is displayed in the Console along with the best fit RMS Spheres and simple 3D points can be mixed without any problem During this process you can hide either the reference or the aligned cloud with the dedicated checkboxes You can also freely rotate translate the view point enlarge points zoom in or out enable or disable OpenGL shaders etc Each time you pick or manually input a point a new entry appears in the corresponding table either Aligned or Reference as well as a marker in the 3D view aligned markers begin with A and reference markers begin with R GL filter EyeDome Lighting disable normals and increase points size for a better result Point pair registration Pick equivalent points on both clouds at least 4 pairs mind the order you can add points manually if necessary vE Q r 200 000 X Y Z Error AO 2665 66 18175 9 12403 4 A1 3277 55 13815 13463 5 l
133. ign may be necessary if the order of the triangle s vertices is inverted e multi threaded whether to use all CPU cores available warning the computer might not be totally responsive during the computation e split X Y and Z components not available for cloud to mesh distance Displaying the resulting distances color scale Once the computation is done the user can close the dialog To display the resulting scalar field s color scale just select the compared entity and then check the Visible checkbox of the Color Scale section of its properties Current Steps Visible Alternatively use the shortcut Shift C once the entity is selected to toggle the color scale visibility One can also set the color scale to be used with the Current combo box and edit it or create a new one with the gear icon on the right CloudCompare Version 2 6 1 user manual 111 C2M signed distances 846 836243 685 127182 923 418121 361 709061 362 487671 524 975342 687 463013 849 950684 q _ 6500 Cloud to mesh distances example of result Distances gt Closest Point Set Menu Icon This tool is accessible via the Tools gt Distances gt Closest Point Set menu Description This tool computes closest point set of a cloud relatively to another one This structure is defined for instance by Besl et al in the original ICP article Let A and B be two clouds with respectively Na and N
134. ilable 19 06 7712 View 11 GI fitere available 1 Menus E E File open save quit etc Edit edit selected entities and their features colors normals scalar fields etc Tools segmentation registration projection etc Display display related options Plugins loaded plugins 3D Views 3D views management Help about help etc Main toolbar quick access to main editing and processing tools open save point picking clone etc Scalar fields toolbar quick access to scalar fields related tools Plugins toolbar quick access to currently loaded plugins standard and OpenGL shaders View toolbar quick access to display related tools Database tree for selection and activation of entities and their features Properties view information on selected entity Default 3D view Another 3D view created with 3D Views gt New 10 Console CloudCom pare Version 2 6 1 user manual 10 11 Entities Main entities Point cloud A point cloud is a set of unorganized 3D points X Y Z It can be associated to e a unique color for the whole entity RGB e per point colors RGB e per point normal vectors Nx Ny Nz e per point scalar values a scalar field multiple scalar fields can be associated to the same cloud Lan Mesh A mesh is a set of triangles Internally triangles are represented by triplets of integer indexes Those indexes are relative to an associated cloud the mesh vert
135. ility Toggle color Toggle normals Toggle SF Toggle 3D name Delete Add empty group Expand branch Collapse branch Context menu for a cloud The most notable elements are e Onall entities o Information recursive displays information on the the selected entity and all its siblings in a recursive manner Typically the total number of points triangles normals etc Toggle visibility color etc to toggle a given property of the selected entities o Delete to delete the selected entities Add empty group to add an empty group as a child of the selected entity can also be called on the DB tree background area to create a group at the tree root Expand Collapse branch o Sort siblings by names A Z or Z A or by type to sort the siblings if the entity has more than one child e Only on sensors o Bubble view to activate Bubble view polar mode e Only on planar entities i e 3 points labels planes and facets o Align camera inverse or not to make the camera of the current 3D view face this planar element one side or another The corresponding transformation is also output in the Console Entity properties When a single entity is selected its properties are accessible in the Properties dialog on the left side below the DB tree by default Property State Value Name Sphere r 384 44 rms 3 01 Visible 9 Normals 9 Show name in 3D X 768 88 Box dimensions Y 768 879
136. in the translation along none one or several dimensions among X Y and Z e Enable farthest point removal this option is very interesting if the shapes of the two entities you are trying to register are quite different either because the entities don t represent exactly the same object or simply CloudCompare Version 2 6 1 user manual because the noise on one entity is too high This tells CC to remove at each iteration the points of the data cloud that are too far from the model cloud e Use displayed model data scalar field as weights this option should enable the user to use scalar values as weights either on the data or the model cloud it is not advised to use weights on both clouds at the same time Cc CloudCompare v2 6 1 beta 64 bits 3D View 1 File Edit Tools Display Plugins 3D Views Help P A p l g ae a A 1 Aa Vie PGE GE yh XK es E oS Be amp 8 r Hr LA C woros S y Er Es Nic SOR MS Remove filter Blur shader r Faj Y 9 5 it oO amp DB Tree is O scapQM1 Claud N canment 4 Y Y schlachte_boats bin C Dev D non Y v scar Register info Final RMS 0 0396382 computed on 49999 points E O 4 Transformation matrix 1 000 0 000 0 001 0 205 q 0 000 1 000 0 000 0 198 0 001 0 000 1 000 0 144 0 000 0 000 0 000 1 000 Q Scale fixed 1 0 ooo cooo ar g Theorical overlap 50 a e II O AAA gt Objec This report has been output to Console F8 g
137. inal position fined Edit global shift and scale dialog A numerical example of the current shift and scale settings is given in the turquoises frames e onthe left a point is expressed in the global coordinate system along with the bounding box diagonal length in the bottom part e onthe right the same point is expressed in the local coordinate system with the equivalent bounding box diagonal length as well The user can change the shift and scale values The values in the turquoise frames are automatically updated to reflect these modifications The modified values appear in purple or red shiftfscale nformaton is stored and used to restore the original coordinates at export time Point in original coordinate system on disk x 354013 500000 Orignal y 528696 500000 Shift 354000 00 z 442 670013 529300 09 0 00 x Scale 1 00009090 diagonal 992 141087 Keep original position fined Point in local coordinate system x 13 50000 y 613 50000 z 442 67001 diagonal 992 14109 Edit global shift and scale dialog with a pending modification local coordinate system maintained When the shift and scale values are modified then either the local coordinate system or the global coordinate system will be impacted Keep local coordinate system By default the tool will modify the global coordinate system This way one can easily change the geo localization of the cloud or eve
138. ion perspective state etc of the active 3D view as a Dd Viewport entity The entity is automatically added to the root of the DB tree Note viewport entities can be saved in BIN files along with the other entities Restoring the viewport The viewport can be restored at any time by clicking on the Apply button in the viewport entity properties DB Tree Y Viewport 1 Camera Link Properties i Property State Value Name Viewport 1 Show name in3D Info Object ID 12 Children Current Display 3D View 1 z Name Viewport 1 Apply Viewport pply Viewp ad Adjust zoom Menu This tool is accessible via the Display gt Adjust zoom menu Description This tool let the user define the current zoom potentially in a very accurate way e g in order to get a very specific dimension per pixel for instance Procedure Make sure the targeted 3D view is active then call this tool CloudCompare will display a dedicated dialog Window 3D View 1 1198 x 528 zoom 1 535565 pixel size 0 027837 units gt f 1pixel s The zoom can be set in various ways CloudCompare Version 2 6 1 user manual 143 e either directly by setting the zoom value e or by defining the dimension of one or several pixels To do this set the pixel size value to the right dimension and optionally set the corresponding number of pixels one by default CloudCompare will automatical
139. kely to follow the tested one The margin of error p is only used to set the threshold below which points will be considered as being in concordance with the tested distribution The smaller this margin the less discriminating the test will As this test is used to reject the hypothesis that the local scalar values follow the tested distribution Therefore if the margin is smaller than this hypothesis will be less rejected and more points will be considered as being compatible with the tested distribution e g noise Exploiting the Chi2 distances The user can directly use the Edit gt Scalar fields gt Filter by Value method in order to extract and create a new cloud with the non grey points the points which distance is significant for instance This tool will use the current display parameters by default And from the filtered cloud you can extract connected components for instance see Segmentation gt Label Connected Components 115 Full workflow involving the Local statistical Test tool CloudCompare Version 2 6 1 user manual 116 Statistics gt Compute Stat Params Menu Icon 1 0 This tool is accessible via the AM icon in the main upper toolbar or the Tools gt Statistics gt Compute stat params active SF menu Description This tool fits a statistical distribution on the active scalar field of the selected entity Available distributions are e Gauss aka Normal distribution e Weibu
140. l be but also the more time and memory will be required Here is an example of output mesh the mesh is on the left and the input cloud with normals is on the right Using the output density The most interesting feature when working with open shapes such as LIDAR clouds etc is the density measure output by PoissonRecon You can use this scalar field to reduce the output mesh extents so as to match as best the input cloud extents e once the computation is done close the plugin dialog e select the output mesh CloudCompare Version 2 6 1 user manual 154 155 e scroll its properties down see the Properties dialog on the left by default until you see the SF display params section DB Tree y a 7 3 Gravels bin D 1000 CC data BIN Density 1 O Gravels Cloud 0 i a Y Mesh Gravels Cloud 0 level 8 W vertices Camera Link 5 374566 Properties a Property State Value E Current Plue gt Green gt Yellow gt Rei y E Steps 256 j 6 583044 Visible W Display ranges Parameters 3 00000000 l displayed 10 16608810 mW de 3 00000000 saturation 1016608810 You can use the left white circular interactor which corresponds to the minimum displayed value to interactively hide the triangles with vertices having the lowest density values They correspond to the triangles that are the farthest from the input cloud Once you
141. l polylines it founds in the DB tree so that the user can select the one he wants to use Warning any previously defined polygon rectangle will be discarded Export The segmentation polygon can be exported as soon as it has been closed right click and BEFORE segmenting the points inside or outside Note the exported polyline will have a viewport entity as child This viewport entity stores the current viewport parameters and allows the user to restore the exact same viewport later by clicking on the Apply button in its properties Viewport can also be saved in BIN files This way it is possible to apply the exact same segmentation process to the same entity or to other entities first apply the viewport then start the tool and eventually import the polyline see above About mesh segmentation Inthe case of meshes this tool doesn t cut the triangles crossing the polygon edges Those triangles are always removed i e this tool only keeps the triangle having all their vertices inside or outside the polygon The result can be acceptable if the mesh has very small triangles It can be more problematic if big long triangles cross the segmentation polygon CloudCompare Version 2 6 1 user manual Segmentation PAUSED meea 01 9 ve 23 xc Unpause to segment again Close up of mesh segmentation near the polygon edges original mesh is shown as wireframe and the segmented mesh is in plain colors the polygon edge is i
142. laj xj 906 680175 781250 263 481445312500 B69 207006835935 1 000000000000 Manual registration of two entities with the Rotate Translate tool Finely registering the entities You can skip this step if the two entities are already finely registered e refine and finish the registration of the two entities with at least the Registration gt Align point pairs picking e tool and ideally the Registration gt Fine registration ICP tF tool CloudCompare Version 2 6 1 user manual jox Pie Ect Tosa Distr Phage 3 Varese Hebb 3 x IPD PSR XK e888 OB AW y lie 5 F daian P Ti_alfragmerts_eryshadarS4 ply B met C CD vertices part MO das DE SA IA F use displayed model scalar field as weights I use displayed date scalar field as weights I Enable furthest points removal oK Cancel 10 45 46 10 45 46 0 9605351 90525 0 0361 481139710 0 2717 03005890 664 010620117108 0 053255312643 0 990404 626046 0 090791650116 74 502496093750 0 266665015697 0 104583576322 0 957095243511 878 9733701 17108 0 000000000000 000000000000 0 000000000000 1 000000000000 Automatic registration of two entities with the Register tool ICP Data comparison You can now compute the distances between the two entities Select both of them and choose the appropriate distance computation tool e for cloud cloud comparison use the Distances gt Cloud Cloud
143. lease select one or several entities press CTRL A to select all Polyline 1 1D 4353 Polyline 2 ID 4357 Polyline 3 ID 4361 Polyline 4 ID 4365 _ Polyline 6 ID 4373 D Gees You can select one or multiple polylines with the standard selection shortcuts e g on Windows CTRL or SHIFT key pressed for multiple selection and CTRL A to select all at one The selected polylines will then be imported and displayed in the 3D view Make sure the coordinates systems are concordant Orthogonal sections generation Instead of defining several orthogonal polylines sections it may be faster to defined a single path and automatically generate orthogonal sections with at regular intervals First the user needs to draw or import this path and then select it by clicking on it the polyline edition mode must be disabled to select a polyline A selected polyline appears in red Note that when exiting the polyline edition mode the latest drawn polyline will be automatically selected Once a polyline is selected the A icon can be clicked CloudCompare Version 2 6 1 user manual 125 generator path length 1663 91 sections 56 step 30 width 332 781323 V auto save and remove generatrix ok J L cae This dialog displays in the upper part the total length of the selected polyline path as well as the number of orthogonal sections that will be created with the current settings T
144. lets you create primitive objects planes spheres boxes etc inside radius 1 000000 outside radius 1 500000 angle degrees 360 000000 F Rectangular section nside radius 1 000000 File gt Primitive factory You can choose the primitive type by selecting the right tab Plane Box Sphere Cylinder Cone Torus and Dish For the selected primitive you can edit its parameters mainly dimensions then create it by clicking on the Create button The process can be repeated several types you can change the primitive type as well until you close the factory with the Close button Notes e optionally you can also set the initial precision i e the amount of triangles of the tessellated version of the primitive However this parameter can be freely changed later in the primitive parameters e primitives are defined along the main axes X Y and Z by default However you can apply a rigid transformation to it afterwards with the Edit gt Apply Transformation method CloudCompare Version 2 6 1 user manual 39 3D mouse gt Enable Menu Icon This tool is accessible via the File gt 3D mouse gt Enable Y menu Description If a 3Dconnexion device is connected to your PC you can enable or disable it via this menu entry s 8 3Dconnexion devices Success of the operation should be reported in the Console Close all Menu This method is accessible via the
145. ll distribution Procedure Select an entity cloud or mesh then call this tool A dialog will appear so as to let the user choose the distribution to fit Eventually CloudCompare will compute the corresponding distribution parameters and display the scalar histogram with a grey curve corresponding to the fitted distribution The distribution parameters are displayed above the histogram and also in the Console along with the Chi squared test result so as to get an evaluation of the fit quality 84 90 96 Loaded scalar field Compute stat params Result CloudCompare Version 2 6 1 user manual 117 Segmentation gt Label Connected Components Menu Icon Cc This tool is accessible via the EE icon the upper main toolbar or the Tools gt Segmentation gt Label Connected Comp menu Description This tool segments the selected cloud s in smaller parts separated by a minimum distance Each part is a connected component i e a set of connected points Note the name of this tool is derived from the classical image processing algorithm with the same name Procedure Select one or several clouds then start this tool Connected Components Octree Level 8 grid step 70 1553 Min points per compoent 10 random colors warning overwrites existing ones Cancel CloudCompare will ask you to set some parameters e Octree level CloudCompare uses a 3D grid to extract the connected components just
146. log Start The user must select one or several entities before launching this tool The entities can be about any 3D geometry clouds meshes polylines primitives etc Note locked entities sub meshes etc can t be moved this way Procedure The user has multiple choices to set the transformation to apply see below for more details e as atransformation matrix e the combination of a rotation axis a rotation angle and a translation vector e the combination of Euler angles 1 snd a translation vector A checkbox let the user specify if he wishes to apply the currently defined transformation or it s inverse Apply inverse transformation Once defined the transformation can be applied by clicking on the OK button or the process can be canceled by clicking on the Cancel button The transformation is applied to all selected entities and to their children recursively The transformation is added to each entity s Transformation history Input a transformation Transformation matrix A rigid transformation matrix is a composition of a rotation a 3x3 matrix and a translation a 3D vector For convenience it can be written as a 4x4 matrix the rotation matrix corresponds to the upper part of the 3 first columns the translation vector corresponds to the upper part of the 4th column and the bottom line is always filled with 3 zeros and a one In he first tab Matrix 4x4 the user can input the matrix values directly
147. loud distances can be computed by selecting two point clouds and then clicking on the icon See the Cloud to Cloud Distance computation tool section for more information The default way to compute distances between two point cloud is the nearest neighbor distance for each point of the compared cloud CloudCompare searches the nearest point in the reference cloud and computes their Euclidean distance This corresponds to the default case where local model is set to NONE nearest neighbor nor distance _ e pe B e se A rus X Compared e na 4 distance cloud a e S O e sx S an Ne Reference a s cloud a w true surfaces a implicit s Local modeling If the reference point cloud is dense enough approximating the distance from the compared cloud to the underlying surface represented by the reference cloud is acceptable But if the reference cloud is not dense enough the nearest neighbor distance is sometimes not precise enough Therefore it can be necessary to get a better model of the surface Of course if one can obtain a global model of the surface easily it s much simpler and potentially more accurate to compute directly the distance from the compared cloud to this model see the Cloud mesh distances section below But it s generally not so easy to get a clean and proper global model Therefore CloudCompare provides an intermediate way to get a better approxim
148. ls The interpolate option consists in a linear interpolation with the nearest non empty neighboring cells This can give very good results in the presence of small holes However it can be less accurate on big holes And above all it doesn t work outside the convex hull of the non empty cells Empty cells no interpolation Interpolation empty cells height 0 Interpolation empty cells height 160 blue points outside the convex hull Interpolation principle This is why a custom value must be specified in the field below the Fill with drop down list to fill these areas if any Grid position The grid position in the projection plane can be finely defined by clicking on the Edit grid button Bounding Box Editor Co la Center v Width X 500 00500488 gt 999 98999023 Y 0 00999451 gt 999 97998047 keep square Default Grid extents setup dialog Interpolate scalar fields If the input cloud has one or several scalar fields it is possible to interpolate the scalar field values in each grid cell To do this the user has to check the interpolate SF s checkbox and define how this interpolation should be conducted e by keeping the minimum SF value of all the points falling in this cell e by keeping the average SF value of all the points falling in this cell e by keeping the maximum SF value of all the points falling in this cell Note interpolated scalar fields can onl
149. ly update the corresponding zoom value Test Frame Rate Menu This tool is accessible via the Display gt Test frame rate menu Description This tool makes the active 3D view spin for a short time 10 seconds in order to estimate the average fps frame per second The result is displayed in the Console Lights gt Toggle Sun Light Menu This tool is accessible via the Display gt Lights gt Toggle Sun Light menu Alternatively this tool can be called with the F6 shortcut Description This tool toggles the sun light By default a non directional light is always activated so as to illuminate objects with normals or materials e g triangular meshes or clouds with normals This light can be disabled or enabled again with this tool This is especially interesting when using the custom light Sun light and custom light combinations Lights gt Toggle Custom Light Menu This tool is accessible via the Display gt Lights gt Toggle Custom Light menu Alternatively this tool can be called with the F7 shortcut Description This tool toggles the custom light Procedure In addition or in replacement of the default sun light a repositionable non directional light can be activated CloudCompare Version 2 6 1 user manual 144 Once activated a yellow star will appear in the 3D scene where the custom light is currently positioned The user can displace this light source by hol
150. meters e the grid step size CloudCompare will update the resulting grid size below so that the user can check that the grid is neither too big nor too small before actually generating the grid e the projection direction X Y or Z default Z e how the height of each cell grid will be computed o minimum height of all points falling in this cell o average height of all points falling in this cell o maximum height of all points falling in this cell Once the base parameters are properly set the user must click on the Update grid button to make CloudCompare actually computed the grid and display it Each time a parameter is modified the Update grid button will appear in red The user has to click on it to actually apply the changes Advanced parameters Empty cells If no points fall inside a given cell this cell will be considered as empty Empty cells are not visible when displayed by CloudCompare in the 3D view They generally have a dedicated NaN or empty value when exported to a raster file depending on the format It is possible to tell CloudCompare to fill those cells in various ways e use the minimum height of the whole grid e use the average height of the whole grid e use the maximum height of the whole grid e usea user specified value should be input in the field below the Fill with drop down list CloudCompare Version 2 6 1 user manual 95 e interpolate see below Interpolating empty cel
151. meters editor This editor lets the user set most of the display parameters of the active scalar field in a very concise way in addition to get a quick overview of the scalar field histogram e use the left and right white circles to set the min and max displayed scalar values Below and above those values the points will either appear in grey or won t appear at all depending on the parameter show NaN out of range values in grey that is accessible in the Parameters tab This way the user can quickly hide points with values outside a given interval in order to focus on the other points for instance e use the red and blue down arrows to set the min and max saturation values to set the start and end of relative color scales see the Scalar fields gt Color Scales Manager e set additional parameters with the Parameters tab log or symmetrical scale etc CloudCompare Version 2 6 1 user manual 18 Supported file formats Type Description Other Features un E O ORR 5 oD un b ws a 3 3 33 5 D ec z a o u E E 9 2 oO BIN bin CloudCompare own X X binary gt 1 gt 1 gt 1 Normals format Colors RGB Scalar fields gt 1 Labels viewports display options etc ASCII asc ASCII point cloud file X X ASCII 1 Normals txt X Y Z etc Colors RGB AYZ Scalar fields gt 1 neu pts LAS las ASPRS lidar point
152. moves the mouse while pressing the left button the camera orientation is fixed Using the mouse wheel will make the object farther or nearer from the current point of view Note this mode can be toggled with the F3 shortcut E Viewer based In the viewer based perspective mode the camera rotates when the user moves the mouse while pressing the left button And using the mouse wheel make the camera move forward or backward in the current viewing direction Note this mode can be toggled with the F4 shortcut CloudCompare Version 2 6 1 user manual 22 Bubble view polar This viewing mode can only be properly enabled via a GBL sensor entity They are generally associated to point clouds coming from proprietary files PTX FARO DP etc To enable it simply browse the sensor entity properties and click on the Apply button Apply viewport item While in this mode the camera position is fixed normally at the sensor center and the user can only rotate it with the left mouse button or change the zoom with the mouse wheel Note in fact the zoom is simply obtained by modifying the camera field of view f o v Therefore high optical distortion can occur after a certain point CloudCompare v2 6 1 beta 64 bits 3D View lT Se anii File Edit Tools Display Plugins 3DViews Help POSES Dx Remove fiter Blur shader Nac SOR Ms S 5 E _ DB Tree 4 210King_OfficeSpace_Scan fws E Th
153. n green Shortcuts Some keyboard shortcuts are available Escape key Cancel Return key Apply Delete key Apply delete hidden points Tab Switch between polygon and rectangle edition mode CTRL key pressed Use a rectangular selection area whatever the edition mode i Select points inside O Select points outside Space bar Toggle pause mode CloudCompare Version 2 6 1 user manual 49 50 Crop Menu This tool is accessible via the Edit gt Crop menu Description This tool is used to crop one or several clouds inside a 3D box Note this tool creates new clouds one for each input cloud if the cloud is intersected by the 3D box Procedure Select one or several clouds then start this tool The standard 3D box editing dialog appears X 490218 62500000 gt 1516 21875000 E Y 5261951 00000000 1862 00000000 Z 386 05999756 436 04003906 keep square Cu a ia a Ca 3D box editing dialog By default the box is initialized to the bounding box of all selected clouds this default box can be restored anytime by clicking on the Default button The user can define the cropping box in multiple ways e by defining the center and dimensions of the box default e by defining the min corner and the dimensions of the box e by defining the max corner and the dimensions of th
154. n or new hit on the space bar Constraints Optionally constraints can be added to the applied transformation CloudCompare Version 2 6 1 user manual 46 e rotation can be constrained to a single axis X Y or Z Use the drop down menu to select the current dimension e translation ca be constrained to zero one or two dimensions only among X Y and Z Just uncheck the dimensions that should be ignored When done use the validation icon to apply the transformation or the cancel button to revert it Note on validation CC will output the applied transformation to the console Shortcuts Some keyboard shortcuts are available Space bar Toggle pause mode Escape key Cancel transformation close the tool Return key Apply transformation close the tool Segment Interactive Segmentation Tool Menu icon This tool is accessible via the Y icon in the main upper toolbar or the Edit gt Segment menu Description This tool allows the user to interactively segment the selected entities by defining a 2D polygon or a rectangle on the screen This process can be repeated multiple times changing the orientation of the entities each time so as to properly segment the entities in 3D Each time the user can decide to keep the points or triangles falling inside or outside the polygon border Segmentation ON polygonal selection Left click add contour points Right click close PR Interactive Segmentati
155. n simply remove them so as to save the cloud in a local coordinate system CloudCompare Version 2 6 1 user manual 52 In this mode no modification to the cloud currently in memory will occur However when exported the entity might not be in the same place as the original one Keep global coordinate system It is possible to tell CloudCompare to maintain the global coordinate system unchanged For this the user must check the Keep original position fixed checkbox In this case the local coordinate system will be modified so as to maintain the original global one Point in local coordinate system Shift 354000 00 x 3192013 5 y 4763985 5 2 427 Original 529300 00 0 00 x Scale 1 00000000 cod a2 diagonal 992 141087 Y Keep original position fined Edit global shift and scale dialog with a pending modification local coordinate system maintained In this mode the cloud in memory will be translated However when exported the cloud will be in the same position as the original one apart if other transformations have been applied of course Toggle recursive menu Menu This sub menu is accessible via Edit gt Toggle recursive Description This sub menu is mainly a collection of keyboard shortcuts Each one toggles a given property of the selected entities and their siblings Shortcuts Activation A Visibility Colors V C Normals N Scalar field S M Ma
156. n the 3D view with the marker size spinbox e change the starting index with the start index spinbox default value 0 e validate the list in which case all picked points will be saved as a list of labels and the list will be restored when calling this tool again e cancel the picking process the current list won t be saved see above e ifthe cloud has been shifted the global coordinates can be displayed exported instead of the local ones Note see the equivalent PDF documentation for this tool Export options 9 is lw x count 11 XYZ x Y Z a 1 q ocalindesxyz 515332 18327 646484 12148 592773 2 1 new cloud 1734741 18359 519531 12109 695312 3 4 pew poiyine 860596 17194 330078 12014 100586 4 41089 734 388733 16869 197266 11577 443359 5 34644 817 969971 17397 923828 11800 773438 7 4 iii p marker size 5 startindex 1 The list can be exported as e an ASCII file with x y z per line e an ASCII file with index x y z per line the index start parameter is taken into account e a new cloud e apolyline not closed Clean gt Noise filter Menu This tool is accessible via the Tools gt Clean gt Noise filter menu Description The Noise filter tool resembles a lot the S O R filter of the qPCL plugin but with more options Notably the user can define a constant radius for the nearest neighbors search instead of a constant number of neighbors And the user also has th
157. n ys 21361 SSN lt gt a 7 X Y Z Error RO 27 616 28 068 4 147 0 0203037 R1 40 149 27 27 0 396 0 0459506 R 34 061 21 453 6 513 0 009575 v lt gt la E i SE _ adjust scale Rotation xyz V Tx V Ty V Tz a A ie A _ auto update zoom align reset N Xx A ia Standard alignment procedure no spheres Automatic registration Fine registration with ICP For now the only automatic method to very finely register two entities is the well known Iterative Closest Point ICP algorithm See the Registration gt Fine registration ICP section ae Alternative method for registering partially overlapping clouds Here is an old way of registering two partially overlapping clouds i e prior to version 2 6 1 and its Final overlap parameter Preparation e First roughly register the two clouds with the Rotate Translate tool for instance Note if you don t already know which cloud will be the data cloud the one that will move and which one will be the model cloud the one that won t move then you should select the densest one as model reference Creating a subset of the data cloud e clone the data cloud and hide the original one 20 http en wikipedia org wiki Iterative closest point CloudCompare Version 2 6 1 user manual e select the new version of the data cloud and use the nteractive Segmentation tool to keep only the points clearl
158. na tah aioe ate rohana te 20 GIO DAIS Aitana Scale deca 23 o A A OA 23 A teat ag ntti aah tl Sects eal Cae dee Salat Dold a seal Leta le dee etl ta ate Mele ate etna seen eee 23 Mate MaS st a A AAA AAA 23 PROPIOS A A A A A eee ee 24 Edt eataa NNE N E a 24 OO IITA NCS esc east E E E T T T E E A E S 24 TUEGUIAIS ANG Sudestada 25 Alennentand Registration ii 25 Generalconsidera ON Stade 25 AMO io 26 PUTOMGUC teclista ON naaa arnes a E 27 DISTANCES COMPuta OM aa 29 Cloud cloud ataca al lie 29 Coud ME A E 31 HOWto compare tW S DEntit ES iAAA AAA E RE 32 koad O 32 Data preparato Noar aonn a A T E E TE T E E N O 32 Data Compar Oirean A AA E SA O 34 TOOS aNd OO eaa r E T O TONS 36 FEMEN Unan a E AO 36 OCA O O 36 NN 37 A A E eee cae tien eee ance aan taaseaeamsa van ameu cas nenanenaataceeau iat re eamnmncnnee 38 o O 39 SA a sass E E A N acces 39 QUito AAE E E E E E 39 EJIE A E O A E N 40 CONC APA E 40 Mere na 40 SUIS AMS id da ni 41 APP TranstO MATO Ns 43 IL OI clasicas 44 Translate Rotate Interactive Transformation TOOl ccccccccccccccccccccceeesssececeececccssesseseeueueeessseeeeeeeeesssuseessuuaegesneess 45 Segment Interactive seementation TOO vit a ia 46 Ap A cla eae epg oot ot aan tei occ a recognises amd cs caer tatace dtu arenes N a 50 Edit SIOD Al SHIFTING SCAle sererai e nck ia 51 TOR SIS recursive MENU acia 52 Delete aaa so ecgaa sates ty accaucsaccemy aati en udeacndoue A S OS 53 Colors SEU MNGUC telas 53 CO O
159. nformation about CANUPO first e the original article by N Brodu and D Lague Geosciences Rennes http www geosciences univ rennes1 fr spip php article1284 e the tutorial for the original command line tool http www geosciences univ rennes1 fr IMG pdf Point cloud classification user guide v1 2 pdf Getting a working classifier Use an existing prm file Classifiers are stored in standalone prm files They can be applied to any point cloud providing its units are concordant with the classifier If a classifier has been trained with scales regularly sampled between 0 05 and 0 3 implicitly in meters for instance then your cloud coordinates must be expressed in the same units i e in meters here So anyone can share a classifier with others You can first look at e the authors webpage for an existing classifier that may suits your needs link above see the Sample data classifiers and batch file section e oron the dedicated thread on CloudCompare forum http www cloudcompare org forum viewtopic php t 808 CANUPO gt th a Train your own classifier Prepare the data Getting a working classifier is really easy getting an accurate one might be a little longer but not much All you have to do is to manually segment some groups of points representing each class with the scissors tool of CloudCompare For each class you should take several typical subsets of points and regroup them in a single cloud with the Edit
160. ngle Therefore the user can choose whether to actually export each feature if available CloudCompare Version 2 6 1 user manual 64 Plain mesh left wireframe display center and corresponding sampled points right Mesh gt Smooth Laplacian Menu This tool is accessible via the Edit gt Mesh gt Smooth Laplacian menu Description Smooths a mesh with Laplacian smoothing The user must specify the number of iterations 20 by default and the smoothing force Smoothing factor between O and 1 0 2 by default applied at each iteration Edit gt Mesh gt Smooth Laplacian example Warning the smoothing algorithm does not preserve the volume surface Therefore the mesh might shrink a little if the number of iterations and or the smoothing force is too high Mesh gt Subdivide Menu This tool is accessible via the Edit gt Mesh gt Subdivide menu Description Subdivides a mesh The algorithm recursively subdivides the mesh triangles until their surface falls under a limit specified by the user 25 http en wikipedia org wiki Laplacian smoothing CloudCompare Version 2 6 1 user manual 65 Max area per triangle re 5 00000000 i ok J cancel Edit gt Mesh gt Subdivide dialog Edit gt Mesh gt Subdivide example Mesh gt Measure surface Menu This tool is accessible via the Edit gt Mesh gt Measure surface menu Description Mea
161. ngle normal is assigned to the triangle hard tessellated look but preserves the sharp edges Per vertex left and per triangle right mesh normals CloudCompare Version 2 6 1 user manual 59 Normals gt Invert Menu This tool is accessible via the Edit gt Normals gt Invert menu Description Inverts the normals of the selected entities The appearance of an entity with normals changes depending on the orientation of the light relatively to the normals e fora cloud backward lit points will appear black e fora mesh with default material backward lit triangles will appear in light blue while forward lit triangles will be green Normals gt Orient Normals gt With Minimum Spanning Tree Menu This tool is accessible via the Edit gt Normals gt Orient normals gt with Minimum Spanning Tree menu Description This method attempts to re orient all the normals of a cloud in a consistent way It starts from a random point then propagates the normal orientation from one neighbor to the other The propagation is done with the help of a Minimum Spanning Tree 111 Therefore the user must specify the maximum number of neighbors connected at each node the more neighbors the more accurate but also the more memory and the more time will be necessary Normals computed on a cloud left then properly oriented with a Minimum Spanning Tree right Normals gt Orient Normals gt With Fast Marching Menu T
162. nimum distance between points with a ridiculously small value by default CloudCompare Version 2 6 1 user manual 134 Min distance between points 0 000000000001 2 x J came On completion CloudCompare will output in the console the number of duplicate points removed or a message stating that the cloud has no duplicate points CloudCompare Version 2 6 1 user manual 135 Display menu Full screen Menu This tool is accessible via the Display gt Full screen o menu Alternatively you can use the F11 shortcut Description This method simply makes the main CloudCompare application window full screen Call this method again via the menu or the F11 shortcut to restore its original state Refresh Menu This method is accessible via the Display gt Refresh menu Alternatively you can use the F5 shortcut Description This method simply forces the active 3D view to refresh its content a OpenGL primitives are redrawn Toggle Centered Perspective Menu This method is accessible via the amp icon in the left View toolbar or the Display gt Toggle Centered Perspective menu Alternatively you can use the F3 shortcut Description This method toggles the current projection of the active 3D view between the orthographic and object centered perspective modes see the Display modes section Toggle Viewer Based Perspective Menu This method is accessible via t
163. nt clouds acquired thanks to a Ground Based Laser scanner also called a Terrestrial Laser Scanner can be associated to a sensor entity This is a structure containing information about the sensor intrinsic and extrinsic parameters position and orientation relatively to the cloud etc It can be used to localize the sensor position in the 3D scene to display the cloud in polar coordinates Display modes bubble view display mode or to compute scattering angles etc Proprietary formats typically contain this kind of information PTX FARO DP etc They are automatically created as children of the loaded cloud s when loaded from such files Otherwise sensors can be manually created e with the Sensors Ground Based Lidar Create method e orviaa POV meta file 4 V 210 KING 012 Ground Based Laser Scanner CloudCompare Version 2 6 1 user manual 13 ia Projective Camera Sensor Point clouds or pictures acquired thanks to a camera can be associated to a sensor entity This is a structure containing information about the sensor intrinsic and extrinsic parameters position and orientation relatively to the cloud etc It can be used to localize the sensor position in the 3D scene display the cloud as if it was viewed by the camera see the Apply button in the sensor properties filter the points actually viewed by this camera etc Camera sensors are automatically created when loading calibrated pictures from a
164. nts 361499 Subsampling Random parameters Spatial In spatial mode the user must set a minimal distance between two points CloudCompare will then pick points from the original cloud so that no point in the output cloud is closer to another point than the specified value The bigger this value is the less point will be kept Use active SF option Since version 2 6 1 instead of specifying a single value for the spatial subsampling mode the user can use the currently active scalar field so as to modulate the sampling distance with the scalar values The user has to specify the sampling CloudCompare Version 2 6 1 user manual distance corresponding to the minimum and maximum scalar values and CC will linearly interpolate the spatial distance For instance if the cloud is associated to a curvature scalar field you can tell ClioudCompare to sample more points in curvy areas and less points in planar ones Sampling parameters method Space e large small min space between points 0 0000 SF value Spacing value min 1 624 10 000000 max 10 7988 0 100000 Subsampling Spatial parameters based on the active scalar field values Curvature 10 798780 10 225397 9 651933 9 078509 8 505085 7 931662 7 358238 6 784814 14 390 c 6454 a 19 3 91 7696 3 344272 2 770848 2 197424 1 624001 Left original cloud with a scalar field proportional to the local curvature right subsampling output
165. nts to save the modifications if the user forgot it e the Delete button let the user delete the current color scale if it is not a default one CC will ask for a confirmation Edition Existing color sliders can be modified interactively e by pressing the corresponding pencil symbol and moving it on the left or the right e by double clicking on it to change its color Equivalently if the user simply clicks once on the pencil symbol the Selected slider frame will be updated with the current slider information e the Color box can be clicked to change the slider color e the Value spin box can be edited to change the slider position e the small garbage button is used to deleted the current slider Warnings e each time a slider value is edited through the Value spin box the color scale representation is automatically updated This can lead to confusing situations where the sliders are temporarily inverted e if two sliders have the same Value the active one i e the one currently edited in the Selected slider frame will be randomly picked Once again this can lead to confusing situations Export Import Since version 2 6 1 color scales can be exported as XML files Use the amp icon to import such a file and the E icon to export the current color scale CloudCompare Version 2 6 1 user manual Scalar fields gt Delete Menu Icon This tool is accessible via the Edit gt Scalar f
166. ompare Version 2 6 1 user manual Graphi Here is a qu Ci CloudCompare v v2 5 General concepts ical User Interface ick overview of the main user interface 5 6 beta 641 File Edit Tools Display Plugins 3D Views Hep eD 23 HX S WERS AREA rr 4 CIJ a a DMO e HE gt S de de ie soi E E E o ae 2 30 View2 4 Y UY pas_gvl obj E These Donnees Central ron 7 amp po4_gvl_model 1 WO pat_gv Yi 2D label Point 1434413 s EER 79 998962 Y 2 2D label Point 314593 ria 6 87 499222 E EE Saioko 74 999481 Q Properties p J Property State Value EL Visible v MS AA r A E O A E a a Show name in 3D Colors Scalar field IS A A NI O A y ETT dal X 122313 i p Box dimensions Y 13032 7 fo Z 17977 9 7 47 X 88314 1 pai Box center Y 496342 0 Z 35960 g Info Object 1D 785 Children 2 _ y Current Display 3D View 2 Points 2 752 956 5 Global shift 0 00 0 00 0 00 Global scale 1 000000 i Point size Default Count Active cam signed distances Current Blue gt Green gt gt Yellow v Steps EE Visible Y SF Display ranges Parameters 99 99131775 gt displayed 99 99896240 gt saturation 50 00000000 Console 87 493486 99 991318 ae UU 09 06 22 3D View 1 GL version 44 0 09 06 22 3D View 1 Graphic card manufacturer NVIDIA Corporation 4 0 09 06 22 3D View 1 VBOs available 09 06 22 3D View 1 Shaders ava
167. on tool in action Currently this tool can be used to segment clouds or meshes see below for more information CloudCompare Version 2 6 1 user manual 47 Procedure Select one or several entities and start the tool A new tool bar will appear in the top right corner of the 3D view Polygon edition mode By default the tool starts in polygonal editing mode This means that you can start drawing the polygon right away e left click create a new polygon vertex e right after the first vertex is created you ll see that the first polygon edge will start to follow the mouse cursor You have to define the position of the second vertex left click in order to fix it This process will start over with the next edge and so on e right click stop the polygon edition warning the currently floating vertex won t be added to the polygon Rectangle edition mode You can switch the Polygon edition mode to Rectangle edition mode by clicking on the down arrow next to the polygon icon 11 31 gt i 8 KE 9 w i a gt Polygonal selection Rectangular selection In Rectangle edition mode you have to left click a first time to define the first corner of the rectangle then click a second time to define the opposite corner alternatively you can keep the left mouse button pressed and the opposite corner will be created once you release the button Segmentation Once the polygon rectangle
168. ool can convert a set of polylines ideally a set of contour lines to a mesh Contrarily to a standard 2 5D Delaunay triangulation this method will force the contour lines as edges for the output triangles Procedure Select several polylines or a group of polylines then call this method CloudCompare will ask the user the projection dimension i e the dimension orthogonal to the contour lines Projection dimension lz E Sex Gomes CloudCompare Version 2 6 1 user manual 98 99 Contour plot to mesh dialog CloudCompare will eventually generate the mesh Contour plot to mesh result Warning if the contour lines are crossing in 2D then holes may appear in the resulting mesh Projection gt Export coordinate s to SF s See Scalar fields gt Export coordinate s to SF s Registration gt Match bounding box centers Menu This tool is accessible via the Tools gt Registration gt Match bounding box centers menu Description This tool will translate all selected entities so that their bounding box centers are in the same place Procedure Select at least two entities clouds or meshes then start this tool The first selected entity will be used as reference The others will be translated so that their bounding box center comes at the same place as the center of the first entity Warning this tool has no dialog effect is immediate you may want to save or clone the entities
169. oolbar Description This tool allows to e perform standard arithmetic operations between two scalar fields of the same cloud e orapply mathematical functions to a single scalar field Edit gt Scalar Fields gt Arithmetic dialog Supported mathematical functions are e SQRT square root e POW2 power of 2 e POW3 power of 3 e EXP exponential e LOG natural log e LOG10 base 10 log e COS radians e SIN radians e TAN radians e ACOS e ASIN CloudCompare Version 2 6 1 user manual 83 e ATAN e Integer part e Inverse 1 x Note this method will create a new scalar field the source scalar fields are not modified nor deleted Scalar fields gt Color Scales Manager Menu Icon SF This tool is accessible via the Edit gt Scalar fields gt Color Scales Manager menu or the icon next to the color scales list in the cloud mesh properties Description The Color Scales Manager allows the user to manage and create new color scales Color Scale Editor Current Custom ramp y e a Mode absolute y Rename Save Delete Copy New Selected slider 3 Color sul Value 201000000 El Edit gt Scalar Fields gt Color Scales Manager All color scales defined by the user or imported from a BIN file are saved in the persistent memory of the operating system e g the Registry on Windows They can be created edited and deleted via the Color Scal
170. or other 2D overlay items are not rendered The user can force CloudCompare to render them CloudCompare Version 2 6 1 user manual 138 Display settings Menu This method is accessible via the icon in the left View toolbar or the Display gt Display settings menu Description This method displays the Display settings dialog The options are regrouped in several tabs Colors and materials The first tab regroups options related to the display of 3D entities Colors and Materials Light Default Materials Colors al Ambient ma Mesh Front a Background el Mesh Back zal Specular Bl Bounding box Ei Mesh specular i Diffuse or Text sn Points V display gradient background Color scale scalar field Labels Other display options Apply Reset Cancel One can set e the sun light components e the default mesh material components for triangular meshes without any material definition e the default point color for clouds without any RGB color information e the colors of other display elements o the 3D view background if the display gradient background is checked CloudCompare will automatically create a gradient background with the Background color and the inverse of the Points color o the unselected bounding box color the text color Color sale The second tab regroups options related to the Color scale display CloudCompare Version 2 6 1 user manual 139 Colo
171. ou can input our own light directions by providing a point cloud Only its normals will be used considered as independent vectors sampled over of a unit sphere On completion the selected entity will gain a new scalar field corresponding to the illumination of each point 46 http vcg isti cnr it CloudCompare Version 2 6 1 user manual 153 DB Tree 7 Y omphalos 10_droit bin D 1000 CC data Us omphalosL0 Cloud 0 Camera Link Properties Property State Value Name omphalos10 Cloud 0 Visible 9 Normals E Show name in 3D E Colors Scalar field v X 929 175 Pox dimensions Y 935 176 Z 1265 38 X 83 9257 Pox center Y 483 513 Z 1038 79 Info Object ID 7 Children 4 Current Display 3D View L hd Cloud Points 3 190 209 ita You can modify the display parameters of this scalar field to increase the contrast for instance You can also convert this scalar field to RGB colors etc qPoissonRecon Poisson Surface Reconstruction Introduction qPoissonRecon stands for Poisson Surface Reconstruction and is a simple interface to the triangular mesh generation algorithm proposed by Misha Kazhdan of Johns Hopkins University This is exactly the same implementation as the PoissonRecon library maintained and shared by the author currently used version 6 11 Therefore if you use this tool for a scientific publication please
172. pace to optimize comparison algorithms such as distance computation for example Recursive subdivision principle Depth 1 Depth 3 Depth 6 The octree structure used in CloudCompare DgmOctree is not as properly speaking a real tree It takes the form of a list of numerical values one per point that code the absolute position of a point for all level of subdivision It is particularly suited for spatial indexing Two points lying in the same cell at a given level of subdivision have the same partial associated code The octree size in memory is also constant The code is formed by concatenating sets of 3 bits 0 7 which code the relative position of the cell for each level of subdivision The cell at the first level of subdivision corresponds to the most significant bits and the deepest level corresponds to the less significant bits Codes are then sorted to allow fast binary search as well as spatial sweep of the cloud adjacent cells are next to each other in the sorted list octree The maximum octree depth in the standard CloudCompare version is 10 In this version codes are coded on 32 bits and are associated to a 32 bits index value i e the octree weights 128 bits per point 8 bytes gt 8 Mb M points One can compile CloudCompare to use 64 bits codes which allows to go up to 21 levels of subdivision but memory consumption is 50 higher Computing the octree You can force the computation of the octree
173. pixel size 1 000000 gt x 1 000000 zNear 0 001000 zFar 0 285785 skew 0 00 For now only the extrinsic and intrinsic parameters can be created modified the distortion uncertainty model can t be setup this way Note theoretically a camera sensor can be associated to any number of 4x4 transformation matrices association of a 3D rotation and a translation stored in a Trans buffer entity They would typically represent the camera displacement However no file format allows for loading this kind of data yet CloudCompare v2 5 6 beta 64 bits 3D View 1 IC File Edit Tools Display Plugins 3D Views Help IPOD ES EX SIEB ANKRE rs Bur shader Y SOS ES Ea te Vs wic sor MiS V 8 Camera 7 197 Camera 8 Y 197 Camera 9 lo Camera 10 Lo Camera 11 o1 Camera 12 O Keypoints Show side planes Drawing scale Apply Viewport f Matrix Axis Angle Export Axis 0 328608 0 515019 0 791689 Angle 122 363426 deg Center 0 249929 0 135801 1 185993 09 58 12 Application path E These C CloudCompare bin_ 64_msvc_2012 CloudCompare 09 58 12 Plugins lookup dir E These C CloudCompare bin_x64_msvc_2012 CloudCompare plugins 09 58 12 Found new plugin QBLUR_PLUGIN dil 09 58 12 Plugin name Blur shader 1109 58 1 21 Found new nlunin COCANUPO PLUGIN DII Ali Camera sensor object as visible in the DB tree and in a 3D view 22 http www cs
174. ply select its vertices a point cloud named vertices generally a child of the mesh entity in the DB tree In this case you can hide the mesh entity uncheck the visible checkbox in the mesh properties and instead display its vertices check the equivalent visible checkbox in the vertices cloud properties As mesh vertices are generally quite sparse you can also increase the points size the interactors that appear when you hover the mouse in the top left corner of a 3D view e you can alternatively sample points on the mesh this way you ll have more control on this process and use the sampled cloud in place of the mesh In the particular case of registration if you want to apply the resulting transformation to the original mesh afterwards refer to the next section Rigid transformation matrices skip this part if you really hate maths otherwise it might give you some interesting hints Almost all methods presented below are in fact various ways to produce a rigid transformation matrix to make an entity move relatively to another one see Apply Transformation Whatever the registration tool you use CloudCompare will always issue the resulting transformation matrix in the console This allows the user to apply it or its inverse to any other entity To do so e first copy the matrix from the Console typically with the shortcut CTRL C on Windows e then select the entity you wish to move call the Edit
175. pplies a local statistical test based on the active scalar field all the of loaded generated clouds distrib parameters p value neighbors can be GAUSS or WEIBULL Expected distribution parameters are count e GAUSS the mean value and sigma e WEIBULL a b and the shift value Note result is automatically saved by default see the AUTO_SAVE command to change this CloudCompare Version 2 6 1 user manual 173 FILTER_SF minVal maxVal filters all the loaded generated clouds based on their active scalar field values A new cloud is created each time with only the points falling in the minVal maxVal interval Notes e result is automatically saved by default see the AUTO_SAVE command to change this e input clouds are now replaced by their filteterd version since version 2 6 1 You can use special words in place of numbers that CC will replace by the actual SF values e MIN min value e DISP_MIN min displayed value e SAT_MIN min saturation value e MAX max value e DISP_MAX max displayed value e SAT_MAX max saturation value DENSITY sphere radius computes density inside a sphere around each point on the currently opened generated cloud s Optional setting e TYPE density_type to specify the type of density to compute density_type can be KNN nearest neighbors count SURFACE surface density or VOLUME volume density Notes e anew scalar field is created on
176. r resolution than the actual screen resolution Procedure Make the 3D view that you want to render active then call this tool A dialog will appear Filename D capture bmp Zoom 5 00 gt Result 2380 x 1775 Don t scale features e g points size lines thickness text etc Render overlay items scale trihedron etc Cancel You must first set the output image filename you can use the button to browse a particular file or folder on your computer Most common image file formats are supported bmp jpg png etc By default the output image will have the same resolution as the 3D view i e the same size in pixels With the zoom factor you can increase the rendered image resolution the resulting size is displayed on the right CloudCompare will render the 3D view content off screen in a potentially much larger buffer than you actual screen Warning depending on your graphic card and its driver capabilities the operation may fail if the output image size is too big Most graphic cards drivers have a limit of 64 M pixels Other options are e by default is a zoom factor other than 1 is sued CloudCompare will scale the displayed features point size lines thickness etc when rendering the 3D view off screen The user can deactivate this behavior this way especially if the point cloud is very dense a much finer rendering can be achieved e moreover by default the trihedron the scale
177. re will fit a sohere primitive on each cloud the radius will be detected automatically 37 http en wikipedia org wiki Root mean square 38 http en wikipedia org wiki Strike and dip CloudCompare Version 2 6 1 user manual 129 Fitted sphere In the console the following pieces of information will be output e center can also be found as the center of the sphere bounding box in the sphere entity properties e radius can also be found in the sphere entity properties e sphere fitting RMS is recalled in the default sphere entity name Note theoretically the sphere fitting algorithm can handle up to 50 outliers Fit gt 2D Polygon Menu This tool is accessible via the Tools gt Fit gt 2D Polygon facet menu Description This tool fits a 2D polygon on a point cloud It s very similar to the Tools gt Fit gt Plane method but the extents of the fitted plane follows the cloud contour in 2D Procedure Select one or several point clouds then launch this tool For each cloud CloudCompare will first fit a plane and then extract the contour in 2D CloudCompare will therefore ask for the max edge length of the contour This is the same parameter used for contour extraction in the Cross Section tool If zero the extracted contour will be the cloud convex hull Otherwise the smaller the max edge length is the tighter the contour will be Fitted facet 2D polygon In the console the following piec
178. rection SFs menu Description Converts the normals of a cloud to two scalar fields e one with the dip value e and the other with the dip direction value Note angles are in degrees Normals gt Clear Menu This tool is accessible via the Edit gt Colors gt Clear menu Description Remove normals from the selected entities 22 http en wikipedia org wiki HSL and HSV 23 http en wikipedia org wiki Strike and dip CloudCompare Version 2 6 1 user manual 60 Octree gt Compute Menu This tool is accessible via the Edit gt Octree gt Compute menu Description Forces the computation of the octree on a given entity Max subdivision level 10 Octree box Default Cell size atmaxlevel 1 241960 Custom bounding box Edit Edit gt Octree gt Compute dialog 32 bits version The octree spatial extents can be set in various ways e default the smallest cube that totally includes the entity e bounding box cell size at max level the user can define the cell size at the smallest level of subdivision the octree box will then be 2 larger where N is the maximum octree level e custom the user can define a custom bounding box with a dedicated sub dialog The maximum octree level or number of subdivisions is N 10 in the 32 bits version and N 21 in the 64 bits version Note this operation is generally not necessary i e octree computation is done automatically by CloudCompare when
179. role assignation by clicking on the swap button You ll see in the 3D view that the two entities colors are forced to yellow and red so as to correspond to the Model yellow and Data red colors CloudCompare Version 2 6 1 user manual 105 Clouds registration EJ Role assignation EN Data scan002 Cloud 0 segmented sl Model scan001 Cloud 0 seqmented swap Parameters _ Number of iterations 20 gt 0 RMS difference 1 0e 06 Final overlap a o EAs _ Adjust scale Research parameters Random sampling limit 50000 gt Rotation YZ Translation Y Tx v Ty v Tz _ Enable farthest points removal _ Use displayed model scalar field as weights _ Use displayed data scalar field as weights OK Cancel Fine registration ICP dialog Main parameters Here are the most important parameters e Number of iterations RMS difference ICP is an iterative process During this process the registration error slowly decrease We can tell CC to stop this process either after a maximum number of iterations or as soon as the error RMS difference between two iterations becomes lower than a given threshold The smaller this threshold is the longer it will take to converge but the finer the result should be note as CC work with 32 bits floating point values a 1e 8 threshold is already near the computation accuracy limit and it shouldn t be necessary to go any lower e Final overlap this is a new par
180. rs and Materials Color scale scalar field V Show histogram next to color ramp V Enable shader for faster display ATI cards use at your own risk Ramp width 50 pixels Labels Other display options Se Gai Greta Ganar The user can set e whether the histogram should be displayed next to the color scale e whether the fast color scale display shader should be enabled or not This shader accelerates the display of dynamic colors for points when a scalar field is active Depending on your graphic card it may not be possible to enable it And due to some issues reported with ATI cards it is deactivated by default on those cards the user can still enable it however e the color ramp width Labels The third tab regroups options regarding the display of labels Colors and Materials Color scale scalar field Labels Label opacity Label font size background color Labels marker size marker color E Other display options Ga Gm ae Ganar The user can set e the labels opacity e the labels background color e the labels font size different from the default text size since version 2 6 1 e the labels marker size in 3D e the labels marker color in 3D CloudCompare Version 2 6 1 user manual 140 Other options The fourth tab regroups all the other parameters Colors and Materials Color scale scalar field Labels Other display options Default font size 10
181. rvature 0 http en wikipedia org wiki Gaussian_ curvature CloudCompare Version 2 6 1 user manual 133 Other gt Roughness Menu This tool is accessible via the Tools gt Other gt Roughness menu Description This tool estimates the roughness of a cloud Procedure Select one or several point clouds then start this tool CloudCompare will only ask for the kernel size the radius of a sohere centered on each point see the Notes below Roughness 0 03 0 022060 0 019984 0 017908 0 015832 0 013755 0 012036 0 010316 0 008597 0 006878 0 005158 0 003439 0 001719 Roughness output Notes e Roughness estimation is very simple for each point the roughness value is equal to the distance between this point and the best fitting plane computed on its nearest neighbors e lf there s not enough neighbors to compute a LS plane i e less than 3 an invalid scalar value NaN is set for this point This point will appear in grey or not at all if you uncheck the display NaN values in grey option in the scalar field properties Other gt Remove duplicate points Menu This tool is accessible via the Tools gt Other gt Remove duplicate points menu Description This tool removes duplicate points with respect to a minimal distance between points in a point cloud Procedure Select one or several points clouds then start this tool CloudCompare will only ask for the mi
182. s and get a more reliable result And as suggested before you can also remove points with the dedicated icons above each tables or with the X icon next to each point GL filter EyeDome Lighting disable normals and increase points size for a better result Y y 4 e 200 000 Point pair registration X Y Z Error Current Se Pee 3 An 7 891 32 961 4 002 0 0203037 A1 20 281 30 851 0 521 0 0459506 A 13 565 lt 25 14 6 549 0 009575 v gt Y show reference cloud A xX Y Z Error RN 27 616 28 068 4 147 0 0203037 R1 40 149 27 21 0 396 0 0459506 R 34 061 21 453 6 513 0 009575 v lt gt adjust scale Rotation XYZ W Tx V Ty V Tz auto update zoom align reset Y X Standard alignment procedure no spheres Validate Cancel You can validate or cancel the current registration process with the green V and red X icons On validation CC will display a report the same set of information is displayed in the Console with increased digit accuracy CloudCompare Version 2 6 1 user manual 104 Cc Align info Ed O Final RMS 3 83338 Transformation matrix 1 000 0 016 0 002 278 331 0 016 1 000 0 005 63 369 0 002 0 005 1 000 85 946 0 000 0 000 0 000 1 000 Refer to Console F8 for more details LOK Registration report Reset You can reset the
183. s through the nearest point and its neighbors e Least squares plane we use this plane directly to compute distances e 2D1 2 triangulation we use the projection of the points on the plane to compute Delaunay s triangulation but we use the original 3D points as vertices for the mesh so as to get a 2 5D mesh e Height function the name is misleading but it is kept for consistency with the old versions In fact the corresponding model is a quadratic function 6 parameters Z a X b X c XY d Y e Y f In this case we only use the plane normal to choose the right dimension for Z We could say that the local models are sorted in increasing fidelity to the local geometry and also by increasing computation time One should also take in consideration whether the local geometry is mostly smooth or with sharp edges Because the Delaunay triangulation is the only model that can theoretically represent sharp edges assuming you have points on the edges and the quadratic function is the only one that can represent smooth curvy surfaces By default it is recommended to use the quadratic model as it s the more versatile Last but not least it s important to understand that due to the local approximation some modeling aberrations may occur even if they are generally rare The computed distances are statistically much more accurate but locally some distance values can be potentially worse than the nearest neighbor distance This means that one
184. s the entity CloudCompare will restore the original coordinate system if the output file format allows for 64 bits values storage Mathematics The global shift and global scale encode the transformation between the original global coordinate system of the entity and the working local coordinate system Let T x y z be the global shift translation S be the global scale and P a 3D point then Plocal Pgiobal T S or equivalently Pelobal Plocal S T CloudCompare Version 2 6 1 user manual 23 24 Properties The shift and scale values are displayed in the entity properties if the entity support this Points 490 000 Global shift 3546000 00 5293900 00 0 00 Global scale 1 000000 Point size Default Edition At any time the user can edit the shift and scale values associated to a given entity See the Edit gt Edit global shift and scale tool Bookmarks By default CloudCompare tries to guess the best shift vector automatically typically when loading a file CloudCompare will use the very first point coordinates as shift quantity But the user is free to input the shift and scale values especially if one works with several clouds and want to work in a particular local coordinate system Once a first shift scale has been used CloudCompare will e use it for the next clouds if it works for them as well e let the user recall it whatever the case thanks to the drop down menu in the middle ju
185. scription Exports the depth map 1 of the selected Ground Based Lidar GBL sensor as an ASCII file CloudCompare will simply ask for a destination filename Output file format The output file is organized as the following e comment line title CLOUDCOMPARE DEPTH MAP e comment line cloud name Associated cloud XXX e comment line first angular step min and max between brackets e comment line second angular step min and max between brackets e comment line max depth pMax XXX e comment line depth map length L XXX e comment line depth map height H XXX e comment line 11111111111 e then on each line 3 values per pixel of the depth map column row depth Example CLOUDCOMPARE DEPTH MAP Associated cloud cloud_name dPhi 0 005000 0 383040 0 007195 dTheta 0 005000 1 586361 0 137948 pMax 58841 890625 L 345 H 79 MINI O 0 12 000000000000 1 0 15 000000000000 2 0 16 000000000000 CloudCompare Version 2 6 1 user manual Sensors gt Camera Sensor gt Create Menu This tool is accessible via the Edit gt Sensors gt Camera Sensor gt Create menu Description Since version 2 5 6 camera sensors can be created with this function however it s easier to load them from Bundler files for instance Position Orientation Intrinsic params Distortion uncertainty focal 2 055573 vert fo v 27 34 array size 1200
186. st above the Shift fields see the Last input entry However this information will only be stored during the active session of CloudCompare it will be lost once you close the program In order to keep the information persistent you can edit the global_shift_list_template txt file next to CloudCompare s executable and follow the instructions inside This is a good way to store persistent shift scale information sets kind of bookmarks CloudCompare Version 2 6 1 user manual 25 Tutorials and guidelines Alignment and Registration This section deals with alignment and registration of 3D entities clouds or meshes General considerations Did you say mesh skip this part if you don t work with triangular meshes As often with CloudCompare meshes will generally be considered as clouds either by considering only their vertices or by sampling points on the mesh surface For instance you can call the Fine registration tool ICP directly on a mesh But behind the scenes CC will automatically sample points on this mesh in order to use it for ICP registration There s only one notable exception the Point pair based alignment tool can now be used directly on meshes when the user clicks on a triangle CloudCompare will determine the actual intersection point on the triangle surface So instead of letting CloudCompare chose you can of course do this conversion yourself e instead of selecting the mesh entity you can sim
187. stration won t work properly Note since version 2 6 you can use this tool directly on meshes this way you can register two clouds a cloud ad a mesh or two meshes Procedure First select two entities then call this tool Role assignment Then you ll have to designate with the classical role assignment dialog which cloud will be the Reference won t move and which one will be the aligned cloud the one actually moving at the end Choose role Es Aligned pdv2 Cloud 0 ES Reference pdvi Cloud 0 Swap OK Cancel Picking point pairs or spheres Once this is done the two selected entities will be displayed in a dedicated 3D view and a new dialog will appear in the upper right corner CloudCompare Version 2 6 1 user manual GL filter EyeDome Lighting disable normals and increase points size for a better result Point pair registration Pick equivalent points on both clouds at least 4 pairs mind the order you can add points manually if necessary 102 lt V show reference cloud X Y lt gt adjust scale Rotation xyz V Tx V Ty Y Tz v auto update zoom alig eset sr X Align point pairs picking tool initialization state You are invited to select on both clouds the same set of remarkable points mind the order You can e input virtual points with the pencil icon e g ground control points e pick points directly on the clouds 3D v
188. sures the mesh total surface as well as the mean surface per triangle Output measurements are displayed in the Console 17 15 29 I O File teapot loaded successfully 17 15 40 Mesh Surface Measurer Mesh teapot 41655 5 square units 17 15 40 Mesh Surface Measurer Mean triangle surface 40 6792 square units Edit gt Mesh gt Measure surface output Mesh gt Measure volume Menu This tool is accessible via the Edit gt Mesh gt Measure volume menu Description Measures the volume of a closed mesh Output measurements are displayed in the Console Edit gt Mesh gt Measure volume output CloudCompare Version 2 6 1 user manual Mesh gt Flag vertices Menu This tool is accessible via the Edit gt Mesh gt Flag vertices by type menu Description Basic mesh quality checking Flags each mesh vertex by a scalar value e O normal e 1 border e 2 non manifold2 A summary of the number of each type of vertex as well as a reminder of the meaning of each SF value is displayed in the Console Vertex type 1 875000 1 750000 1 625000 1 500000 1 375000 1 250000 1 125000 1 000000 0 875000 0 750000 0 625000 0 500000 0 375000 0 250000 0 125000 Edit gt Mesh gt Flag vertices by type output Mesh gt Scalar field gt Smooth Menu This tool is accessible via the Edit gt Mesh gt Scalar field gt Smooth menu Description Smooths a
189. t _ show reference cloud X Y lt gt _ adjust scale Rotation xyz Tx V Ty Y Tz _ auto update zoom lig est F X Selection of the Aligned cloud points as spheres CloudCompare Version 2 6 1 user manual 103 GL filter EyeDome Lighting disable normals and increase points size for a better result r 200 000 Point pair registration Current RMS 3 8333 2 a 2665 66 18175 9 i 3 95757 A1 3277 55 13815 2 2141 lt gt Y show reference cloud S3 X Y Z Error RO 2674 29 18214 9 12399 9 395757 R1 3356 12 13867 5 134748 2 72141 R 4388 62 13917 2 136774 444851 lt gt adjust scale Rotation XYZ W Tx v Ty Y _ auto update zoom align reset NY X Bz Pick equivalent points on both clouds at least 4 pairs mind the order you can add points manually if necessary Selection of the Reference cloud points as spheres and resulting alignment preview Alignment As soon as you have selected at least 3 or more pairs you must have picked exactly the same number of points in each cloud CC will display the resulting RMS and you can preview the result with the align button You ll also see the error contribution for each pair next to each point in the table so as to remove and pick again the worst pairs for instance You can add new points to both sets anytime even after pressing the align button in order to add more constraint
190. t then choose two specific points vertices clearly visible in the two entities crossing of two lines or curves corner etc e then measure the length of this element or the distance between the two specific points on the entity with the largest scale To do this launch use the Tools gt Point picking Oy tool Note if you work with a model mesh you ll have first to make its vertices visible by enabling the vertices entity in the database tree or alternatively to sample points on the mesh see last remark at the end of this tutorial slol x Pe Edt Tok Uoti Plugins ED ews Heb laj x T NR p w y DI g m i aa ama l y i eta r J Mo i ee x l T i 7 y aS ot ee thi ia Rene rter y Y 2 pe LS NN i ad r As Se da la y gt i pee 2 ag al y Ti Mirar enviada SA ply aes 7 lt gt Yertices part 14 a am wt z i 2 ne k mH Fil Properties ld P4924444 120 09 7522 44 931 28 09 53 11 Picked Normat 0 60 0 32 0 73 109 53 12 Picked Ditanoe 174 43 09 53 12 Picked P 492444 120 09 7522 44 931 28 09 53 12 Picked PFGE 118 48 7695 49 953 12 Distance measurement between two points e let s call the measured distance Dmax Note it down hint it will also be displayed in the Console window or you can also save the corresponding label e repeat the process on the other entity i
191. tate to share your own classifiers either with Dimitri Lague himself he might put up a dedicated webpage to store the best classifiers or on the dedicated thread on CloudCompare s forum CANUPO E ES cassity Apply a classifier on a cloud Once you have a valid classifier file see above you can apply it on any cloud providing its units are concordant with the classifier see above Select the cloud you wish to classify and call the Classify method of the plugin Plugins gt qCANUPO gt Classify CloudCompare Version 2 6 1 user manual 162 Classifier s fle These Donnees Users UEB test5 prm info File test5 prm Classifier s in file 1 Descriptor ID 1 Dimensionality Dimensions per scale 2 Scales 6 0 050 10 20 30 40 5 Core points use selected doud subsample doud 0 050000 use other doud total ID 19 from MSC file E These Donnees Users UEB Advanced E Use confidence threshold for dassification threshold 0 900 5 use active SF to locally refine the dassification generate one SF per scale with x y First load the classifier file with the button next to the file field Then select the core points on which the computation should be done it s not always necessary useful to use all points of a cloud for such a process moreover it can be quite long Therefore especially for a first attempt you can use less points either by sub sampling the original
192. te version 1 1 Therefore if you use this tool for a scientific publication please cite the author before citing CloudCompare which is also very good but less important in this particular case CloudCompare simply adds a dialog to set some parameters see below and a seamless integration in its own workflow Usage Notes e touse this plugin the user must select a point cloud e to obtain better results you can provide a point cloud with clean normals otherwise the plugin will compute them itself The plugin dialog looks like this i Ransac Shape Detectio h Aen Min support points per primitive 500 Primitives Advanced parameters V Plane max distance to primitive e 0 058 J Sphere sampling resolution b 0 117 Cylinder a max normal deviation a 25 00 deg Cone F Torus overlooking probability 0 010000 cancel The description of each parameter should appear as a tooltip appears when leaving the mouse over the corresponding spinbox for a while The most important one is the number of samples support points per primitive It all depends on your cloud density and the size of the shapes you are trying to detect For the other parameters it may be necessary to read the original article You also have to select only the kind of primitives you actually wish to detect see the checkboxes on the left so as to easily avoid false unnecessary detections On completion the plugin will create a set of new
193. terials textures 3D name D Not recursive i e only the selected entities activation state is toggled not their siblings CloudCompare Version 2 6 1 user manual Delete Menu This tool is accessible via the Edit gt Delete menu Description Deletes the selected entities Shortcut DEL key Warning action is immediate no confirmation message Colors gt Set Unique Menu Icon This tool is accessible via the Edit gt Colors gt Set unique Q menu Description Set a unique color on the selected entities Basic colors TLL ie TLL LLL TLL Lie __L ieee Pick Screen Color Red 67 Custom colors Add to Custom Colors 4395ff gt Green 149 gt Blue 255 SS Gas Edit gt Colors gt Set unique dialog Warnings e previous color field if any will be overwritten e notall entities can be colored Colors gt Colorize Menu This tool is accessible via the Edit gt Colors gt Colorize menu Description Colorize the selected entities by multiplying their current color s by the specified one e NewcColor r OldColor r SelectedColor r 255 e NewColor g OldColor g SelectedColor g 255 e NewColor b OldColor b SelectedColor b 255 Note if the entity has no color this method is equivalent to Set unique CloudCompare Version 2 6 1 user manual 53 Colors gt L
194. the compared mesh and then use the resulting cloud as the compared entity i Choose role Kal Compared pa4 _gw_ after a Reference pa4_gw before OK Cancel Approximate distances When the Cloud Cloud distance computation dialog appears CloudCompare will first compute approximate distances which are used internally to automatically set the best octree level at which to perform the real distances computation see below The reference cloud is hidden and the compared cloud is colored with those approximate distances Some statistics on those approximate distances are displayed in the Approx results tab but they shouldn t be considered as proper measurement values Those statistics are only provided for advanced users who would like to set the octree level at which computation is performed themselves however this is generally not necessary The user must compute the real distances see the red Compute button or cancel the process CloudCompare Version 2 6 1 user manual Parameters Distance computation Compared malakoff_2jours_simple Cloud 0 Reference malakoff_2jours_simple Cloud 1 mesh Precise results General parameters Local modeling Approx results Octree Level Max dist M signed distances F flip normals 4 multi threaded split X Y and Z components Cloud Mesh distances computation dialog The main parameters for the computation are e Octree le
195. this dimension Eventually if you need more control you can click on the advanced button A standard 3D box edition dialog will appear You can setup the box position in space in various ways and even force the box to be cubical for instance Edit clipping box Center X 0 00416183 126 97941589 Y 21 42424011 151 30789185 Z 0 00422859 e 115 40101624 P teenagere Ta Visualization At any time the 3D view camera can be changed so as to face one of the clipping box faces Use the standard predefined views buttons in the lower part It can be useful to hide the interactors as well in order to properly see the current cloud section CloudCompare Version 2 6 1 user manual 120 Extract a single slice Once the clipping box is defined you can export the visible cloud subset as a new cloud a i To do this simply click on the Export slice button in the right Slices frame CloudCompare will then create a new cloud and add it to the database tree Extract a single contour Instead of the subset of points corresponding to the current slice it is also possible to extract the closed contour of the points To do this click on the Extract contour a button in the left Contour frame A dialog to setup the contour extraction process will appear Repeat Y ES Flat dimension Extract contour s Max edge length 2 287690 _ project slice s points on their best fit plane split
196. tindsarvnassavenndsuaursonadtagavedeaswannsadseaisecueeansataeavadagenanantauedeaeiwaneeatabavodeateattoeuadecs 177 SMO CUT ee a A O A O A E 177 CIOUGEOM Dale OCU CC rd dps 178 SUCIO lt 179 COmputns te OCE eran ino 179 Displaying TRES OETES suda 180 APN OS Ein didas 180 Generatinero rito photos os 180 Introduction History CloudCompare is a 3D point cloud and triangular mesh editing and processing software Originally it has been designed to perform direct comparison between dense 3D point clouds It relies on a specific octree structure that enables great performances when performing this kind of task Moreover as most point clouds were acquired by terrestrial laser scanners CloudCompare was meant to deal with huge point clouds on a standard laptop typically more than 10 million points in 2005 Soon after comparison between a point cloud and a triangular mesh has been supported see below Afterwards many other point cloud processing algorithms have followed registration resampling color normal vectors scalar fields management statistics computation sensor management interactive or automatic segmentation etc as well as display enhancement tools custom color ramps color amp normal vectors handling calibrated pictures handling OpenGL shaders plugins etc 1 for instance it took about 10 s to compute the distances of 3 million points to a 14 000 triangles mesh on a laptop with dual core processor Philosophy
197. tly loaded clouds note that this is not necessary by default as all modified or newly generated cloud are automatically saved Optional settings are e ALL AT ONCE saves all clouds in a single file the current output format must support it SAVE_MESHES Saves all currently loaded meshes note that this is not necessary by default as all modified or newly generated meshes are automatically saved Optional settings are e ALL _AT_ONCE saves all meshes in a single file the current output format must support it CLEAR CLEAR_CLOUDS closes all currently loaded entities closes all currently loaded clouds CLEAR_MESHES closes all currently loaded meshes Example 1 CTO Oma rO FO Ge Loua DIM soo o Aa A Oe This will open file myhugecloud bin then apply spatial subsampling with a 0 1 step e g in meters step The output file will be myhugecloud_SPATIAL_SUBSAMPLED_YYYY MM DD_HHhMM bin Example 2 OT CONO are O my tg ee Oue Ie a 5 E AA O O NY AUS OOO OS EAN ODO OES AO O SS O O O O TUINIGIE 8 This will open file myhugecloud1 bin then apply spatial subsampling with a 0 1 step e g in meters Then it will open file myhugecloud2 bin and apply to both files random subsampling 1 000 000 points each Then it will close the two first files Eventually it will open file myhugecloud3 bin and apply octree based subsampling level 9 The output files will be e myhugecloud1_SPAT
198. to follow the tested distribution Chi2 distances 3162 277588 2767 002282 2371 726976 1976 451670 1581 176364 1185 901057 790 625751 395 3530445 0 075139 Local statistical test result Estimating the noise distribution Let s assume you already have a scalar field associated to your cloud e g distances but you don t know the noise distribution If you can isolate a part of this cloud where the scalar field values should be zero typically a part that hasn t moved changed in the case of distances then you can segment it with the Interactive Segmentation Tool and fit a statistical distribution on the resulting subset s scalar fields with the Tools gt Statistics gt Compute Stat Params tool Distribution fitting Gauss mean 22 348450 std dev 5 884400 217 classes 50 40 30 C2M signed distances Evaluation of the measurement noise on a subset of the cloud where the distances should be 0 CloudCompare Version 2 6 1 user manual Warning if the noise doesn t follow a Gaussian Normal distribution for instance if you have computed unsigned distance then you should prefer the Weibull distribution that has a third parameter and is more versatile About the Chi squared test The Chi squared distance gives an indication on the local concordance between the scalar values of each point and its neighbors and the tested distribution The greater the less likely is the local distribution li
199. used Toolbars Menu This sub menu is accessible via the Display gt Toolbars entry Description The Toolbars sub menu of the Display menu contains checkable menu entries that can be used to show or hide the corresponding toolbars e Main upper Main tools toolbar with the most useful tools e Scalar fields upper Scalar field tools toolbar e View left Viewing tools toolbar with all operations related to the current 3D view e Plugins upper Plugins toolbar where all plugins actions with no dedicated toolbar are automatically inserted e GL filters upper GL filters toolbar CloudCompare Version 2 6 1 user manual 146 Lid Console Toolbars Main Reset all GUI elements positions Scalar fields View Plugins GL filters Reset all GUI elements Menu This method is accessible via the Display gt Reset all GUI elements menu Description By default CloudCompare saves the current GUI configuration position and visibility of the toolbars etc when quitting This tool can be used to restore the original configuration Note CloudCompare must be closed and restarted to apply the changes O To finish the process you ll have to close and restart CloudCompare CloudCompare Version 2 6 1 user manual 3D Views menu New Create a new 3D view Shortcut CTRL F3 Note entities can be moved to 3D views by editing their with the Current Display property Property State Value
200. ution For instance the output of the cloud to cloud distance computation tool is unsigned i e no negative values are output only their absolute values In such a case there s absolutely no chance that the resulting distance values follow a Normal Distribution Even if the deformations you are measuring do follow a Normal distribution in real life then the absolute values will follow a Folded Normal Distribution Currently CloudCompare can t fit such a distribution on a scalar field Scalar fields gt Gradient Menu Icon This tool is accessible via the Edit gt Scalar fields gt Gradient Y menu Description Computes the gradient of a scalar field CloudCompare will first ask a tricky question is the scalar field composed of Euclidean distances O Is the scalar field composed of euclidian distances Edit gt Scalar Fields gt Gradient dialog You ll generally have to answer No to this question apart if the active scalar field values are distances or altitudes for instance In this case some basic considerations will allow CC to cap the resulting gradient values below one This limits the effect of noise which tend to be much more visible on the gradient than on the original SF 32 http en wikipedia org wiki Chi squared test CloudCompare Version 2 6 1 user manual Gradient 361425824 000000 268831061 000000 237966140 000000 207101219 176236298 000000 145372377 000000 1145064
201. ve to update the current zoom use the magnifier icon for instance Procedure Simply select one or several entities then call this tool 21 http en wikipedia org wiki Euler_angles CloudCompare Version 2 6 1 user manual Translate Rotate Interactive Transformation Tool Menu icon This tool is accessible via the cfr icon in the upper main toolbar or the Edit gt Rotate Translate menu Description This tool allows the user to interactively move the selected entities relatively to the other ones or equivalently to the default coordinates system i D vx Rotation Translation mode Rotation XYZ Y Tx 9 Ty Y Tz Rotate Translate tool in action Start The user must select one or several entities before launching this tool The entities can be any 3D geometry entity clouds meshes polylines primitives etc e Notes locked entities sub meshes etc can t be moved this way e only the entities displayed in the active 3D view will be considered Procedure The standard mouse interactions with the 3D view are used to modify the selected entities position instead of the current camera e left click rotate e right click translate Pause At any time the user can pause the transformation mode click on the pause button or hit the space bar in order to modify the camera position orientation and then restart the transformation process by un pausing it new click on the pause butto
202. vel this is the level of subdivision of the octrees at which the distance computation will be performed By default it is set automatically by CloudCompare and should be left as is Changing this parameter only changes the computation time The main idea is that the higher the subdivision level is the smaller the octree cells are Therefore the less points will lie in each cell and the less computations will have to be done to find the nearest one s But conversely the smaller the cells are and the more cells may have to be searched iteratively and this can become very slow if the points are far apart i e the compared point is far from its nearest reference point So big clouds will require high octree levels but if the points of the compared cloud are rather far from the reference cloud then a lower octree level is better e Max dist if the maximum distance between the two entities is high the computation time might be awfully long as the farther the points are the more time it will take to determine their nearest neighbors Therefore it can be a good idea to limit the search below a reasonable value to shorten the computation time All points farther than this distance won t have their true distance computed the threshold value will be used instead e signed distances whether computed distances should be signed with the triangle normal or not e flip normals if signed distances is checked then CloudCompare can automatically invert the s
203. version 2 6 About Plugins Menu This method is accessible via the Help gt About plugins menu Description This method displays a list of all the plugins that were successfully loaded when CloudCompare started CloudCompare Version 2 6 1 user manual 149 Toolbars and icons There are 5 main toolbars in CloudCompare All toolbars are dockable elements that can be freely displaced docked or let floating over the application window Main toolbar BeEVaX SWEAR OAR t Scalar fields toolbar OpenGL filters shaders toolbar The content of this toolbar depends on the detected supported shaders plugins that have been successfully loaded at startup Remove filter Blur shader ich pa Standard plugins toolbar The content of this toolbar depends on the detected supported plugins that have been successfully loaded at startup WK Ti 92 4 Notes e additional toolbars can be added by plugins with multiple methods e g qPCL gSRA qCANUPO etc e see the Plugins list 3D view toolbar Note this toolbar is situated on the left side by default CloudCompare Version 2 6 1 user manual 150 Plugins Standard plugins qHPR Hidden Point Removal Introduction qHPR stands for Hidden Point Removal and is an implementation of the method proposed by S Katz et al in their article titled Direct Visibility of Point Sets oy The algorithm filters out the points of a
204. y be used when exporting the raster grid as a new cloud or as a raster file in a formats that supports real valued layers Resample input cloud This option tells CloudCompare to keep in each grid cell the point which is the closest to the cell center in 2D instead of generating of using the cell center itself This way it is possible to subsample the cloud in a semi gridded pattern If CloudCompare Version 2 6 1 user manual the grid is to be exported as a cloud all the input cloud features colors normals etc can be properly exported as well Export The raster grid can be exported to several destinations Cloud The grid can be exported as a new cloud see the Cloud button in the Export tab in the bottom left corner The grid is always exported as a 3D cloud with the chosen height as the Z dimension A height scalar field is also generated by default Several additional scalar fields can be generated e population number of input points falling in each cell e min height minimum height of the points falling in each cell e average height average height of the points falling in each cell may be redundant with the default height scalar field e max height maximum height of the points falling in each cell may be redundant with the default height scalar field e average height average height of the points falling in each cell may be redundant with the default height
205. y iy f e A g y y log scale D C a basal cliff erosion D ha rockfall 7 A a Significant change Non significant change gt alluvial bank erosion smaller than local LODass eel 95 e stable parts f gully deposits rockfall deposits While you can use the Guess params button it is highly advised to read even quickly the original article by D Lague N Brodu and J Leroux Geosciences Rennes http www geosciences univ rennes1 fr IMG pdf Accurate 3D point cloud comparison Lague et al revised with figures feb2013 pdf Computing M3C2 distances Select the two clouds you want to compare then call the Plugins gt M3C2 Distance method Y Cloud 1 day 1 0081 Y Cloud 2 day2 ID 83 Main parameters Normals Advanced Output Scales Normals diameter 244 260000 i use doud 1 normals A Projection diameter 244 260000 gt max depth 1221 300000 Core points C use doud 1 subsample doud 1 122 130000 5 use other doud day 1 ID 81 Registration error Es EY Main parameters As with the CANUPO algorithm computations can only be done on particular points called core points in order to speed up the computations The main idea is that while TLS clouds are generally very dense it is not necessary to measure the distance at such a high density and it would very slow in practical This is why the user has to choose what core points will
206. y overlapping with the model cloud Register the data cloud subset with the model cloud e apply the Fine registration ICP algorithm to the data cloud subset and the model cloud e once done CloudCompare will output the resulting transformation matrix in the Console e copy this transformation CTRL C on Windows Apply the rigid transformation to the original data cloud e make the original data cloud visible again and select it e launch the Edit gt Apply Transformation tool e paste the transformation CTRL V on Windows in the first tab e click on the OK button That s it CloudCompare Version 2 6 1 user manual 28 Distances Computation This section describes what kind of distances can be computed with CloudCompare and how these distances are computed There s mainly two kinds of distances described below e either the distances between two point clouds cloud cloud distances e or the distances between a point cloud and a mesh cloud mesh distances The third kind of distances that would naturally come to mind the mesh mesh distance will be treated by CloudCompare as a cloud mesh distance one can either choose to use only the compared mesh vertices for computing distances if they are regularly and densely sampled on the surface or alternatively to sample points on the compared mesh surface More information can be found in the How to compare two 3D models tutorial Cloud cloud distances Cloud c

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