E57Converter

Convert E57 point cloud format to PCL pcd format

Submodules

Xerces-C (for libE57Format):https://github.com/apache/xerces-c
libE57Format: https://github.com/asmaloney/libE57Format
JSON for Modern C++: https://github.com/nlohmann/json
Half precision floating point C++ library: https://github.com/melowntech/half

Dependency

PCL: https://github.com/PointCloudLibrary/pcl
OpenCV: https://github.com/opencv/opencv

How to build

1. Install dependencies: PCL, OpenCV
2. Clone with submodul: git clone --recursive https://github.com/dogod621/E57Converter.git
3. Build the project: use CMAKE (PS. you may want to set USING_STATIC_XERCES ON)
	3.1. CMake Require Parameters:
		3.1.1 OpenCV_DIR: Specify where did you install OpenCV. (Notice: The Install folder should contain OpenCVConfig.cmake)
	3.2. CMake Options:
		3.2.1. POINT_E57_WITH_RGB (Default: ON): Specify to store scanned RGB value if E57 have them.
		3.2.2. POINT_E57_WITH_INTENSITY(Default: ON): Specify to store scanned intensity value if E57 have them.
		3.2.3. POINT_E57_WITH_LABEL(Default: ON): (Only be used in further developing functions, currenty not used)Specify to store scanned index.
		3.2.4. POINT_E57_WITH_HDR(Default: ON): (Only be used in further developing functions, currenty not used)Specify to store scanned HDRI RGB value if E57 have them.
		3.2.5. POINT_PCD_WITH_RGB(Default: ON): Specify to keep RGB value from E57 when converting E57 to PCD.
		3.2.6. POINT_PCD_WITH_INTENSITY(Default: ON): Specify to keep intensity value from E57 when converting E57 to PCD.
		3.2.7. POINT_PCD_WITH_NORMAL(Default: ON): Specify to estimate normal vector when converting E57 to PCD.
		3.2.8. POINT_PCD_WITH_LABEL(Default: ON): (Only be used in further developing functions, currenty not used).

How to use

Demo example:
Test E57 Data from https://lasers.leica-geosystems.com/blk360-data-set-downloads

For example: 
	you want to convert a .e57 file to PCL .pcd file
	
	1. Convert .e57 to PCL OutOfCoreOctree: 
		Command:
			E57Converter.exe -convert -src "D:/src.e57" -dst "D:/dst/" -res 5 -min "-100 -100 -100" -max "100 100 100" -minRGB 5
	
		Paramerte description:
			-convert:
				specify you are doing a conversion.
			
			-src:
				input file.
				
			-dst
				output file, for this example is a not exist folder ( You must give a not exist folder for create PCL OutOfCoreOctree ).
				
			-res: 
				means node dimension of the octree, for this exammple is 5 meters.
				
			-min: 
				means AABB xyz of octree minimum, for this exammple is -100 meter.
				
			-max: 
				means AABB xyz of octree maximum, for this exammple is 100 meter.
				
			-samplePercent 
				sets the sampling percent for constructing LODs.
				(if not given, default is 0.125.)
				
			-minRGB
				Remove the points that none of the RGB values are greater or equal than minRGB. In this case, this is used to remove BLK360's black scan noise points. In general, set this to zero.
				
	2. Convert PCL OutOfCoreOctree to .pcd:
		Command:
			E57Converter.exe -convert -src "D:/dst/" -dst "D:/dst.pcd" -voxelUnit 0.05 -searchRadiusNumVoxels 6 
			
		Paramerte description:
			-convert:
				specify you are doing a conversion
			
			-src:
				input file, for this example is the PCL OutOfCoreOctree folder.
				
			-dst:
				output file.
				
			-voxelUnit:
				the voxel filter voxel size, for this exammple is 0.05 meter (5 cm)
				(For removing duplicate scan points or for downsampling)
				
			-searchRadiusNumVoxels:
				the search radius (unit is voxel), this is used for surface normal estimation and outlier removal.

Useful fuctions:

1. Print .e57 file tree structure (This is useful for e57 developers):
	Command:
		E57Converter.exe -printE57Format -src "D:/src.e57"
	
	Paramerte description:
		-printE57Format:
			specify you want to print .e57 file tree structure.
			
		-src:
			the .e57 file
			
2. Convert .pcd file to .ply file: 
	(This is different from PCL tool pcd2ply, this will not output point's scan index and intensity, because PLY file users may not want those values )
	Command:
		E57Converter.exe -convert -src "D:/src.pcd" -dst "D:/dst.ply" -rgb
		
		-convert:
			specify you are doing a conversion
			
		-src:
			input file,.
			
		-dst:
			output file.
			
		-normal:
			specify output point normal (default false).
			
		-rgb:
			specify output point color (default false).
			
		-camera:
			specify output camera (default false).
		
		-binary:
			specify output as binary (default false).
		
3. Rebuild PCL OutOfCoreOctree LOD:
	Command:
		E57Converter.exe -buildLOD -src "D:/src/" -samplePercent 0.125

	Paramerte description:
		-buildLOD:
			specify you want to rebuild PCL OutOfCoreOctree LOD.
			
		-src:
			the PCL OutOfCoreOctree folder.
			
		-samplePercent 
			sets the sampling percent for constructing LODs.