Ubuntu 16.04 install CloudCompare
<h3 id="one-single-command-should-work-1">One single command should work <sup></sup></h3><pre><code>snap install cloudcompare
</code></pre>
<p>But error occurs:</p>
<pre><code>error: cannot perform the following tasks:
- Download snap "cloudcompare" (200) from channel "stable" (Get https://api.snapcraft.io/api/v1/snaps/download/SMYgr36XCuPZDbMnuOu5x4eFvcHALPyL_200.snap: dial tcp: lookup api.snapcraft.io on 127.0.1.1:53: read udp 127.0.0.1:55699->127.0.1.1:53: i/o timeout)
</code></pre>
<h2 id="solved-by-adding-sudo">Solved by adding <code>sudo</code></h2>
<pre><code>sudo snap install cloudcompare
</code></pre>
<h3 id="open-cloudcompare-in-a-terminal-2">Open cloudcompare in a terminal <sup></sup></h3>
<p><code>cloudcompare.ccViewer</code></p>
<p>or <code>cloudcompare.CloudCompare</code></p>
<p>Error occurs:</p>
<pre><code>QXcbConnection: Could not connect to display :0
Aborted (core dumped)
</code></pre>
<h2 id="solved-by-answer-3">Solved by answer <sup></sup></h2>
<p><code>sudo snap install meshlab</code></p>
<h3 id="error-occurred-while-loading-pcd-file">Error occurred while loading pcd file</h3>
<p><code> Can't guess file format: unhandled file extension'pcd'</code></p>
<h2 id="sovled-by-answer-4">Sovled by answer <sup></sup></h2>
<p>The stable version of CC can not open pcd file.</p>
<p>Switch it to edge version by</p>
<p><code>sudo snap refresh --edge cloudcompare</code></p>
<h2 id="note-edge-verstion-dosent-stable-when-saving-pcd-files">NOTE: Edge verstion dosen't stable when saving .pcd files</h2>
<p>There is <strong>a 90° rotation between along axis x</strong> between the original point cloud and output cloud.</p>
<p><img src="https://img2018.cnblogs.com/blog/1329367/201912/1329367-20191227144353140-233087665.png"></p>
<blockquote>
<p><em>Update: a solution found <sup></sup></em></p>
</blockquote>
<hr>
<p>So I gived up the edge version. <strong>Build and install CC from source</strong> <sup></sup></p>
<pre><code>git clone --recursive https://github.com/cloudcompare/trunk.git
cd trunk
mkdir build
cd build
cmake ..
make -j4
sudo make install
</code></pre>
<p>Launch CC <code>./qCC/CloudCompare</code></p>
<h2 id="pcd-file-to-text-file">PCD file to text file</h2>
<p>In this <code>pcd2txt.cpp</code> file <em>(Thanks for Gordon)</em>, .pcd file can be converted to .txt file or reversally (that means .txt file can be converted to .pcd file too).</p>
<pre><code>#include <string>
#include <iostream>
#include <fstream>
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <Eigen/Geometry>
#include <Eigen/Core>
void pcd2txt(pcl::PointCloud<pcl::PointXYZI>::Ptr pcdPtr)
{
/*------------------ output pointcloud xyz as txt ----------------*/
/*----------------------------------------------------------------*/
std::ofstream xyz_txt("/home/gordon/feelEnvironment/data/segByCloudCompare/raw_pointcloud/pointcloud_xyz.txt", std::ios::out);
for(int i = 0; i < pcdPtr->points.size(); i++)
{
xyz_txt << std::fixed << std::setprecision(6) << pcdPtr->points.x << ' ' << pcdPtr->points.y << ' ' << pcdPtr->points.z << std::endl;
}
xyz_txt.close();
}
void txt2pcd(pcl::PointCloud<pcl::PointXYZ>::Ptr pcdPtr){
std::ifstream fin("/home/gordon/feelEnvironment/data/segByCloudCompare/ganjian.txt", std::ios::in);
int row;
fin >> row;
std::cout << "row size = " << row << std::endl;
double temp;
pcl::PointXYZ point;
for(int i = 0; i < row; i++){
fin >> temp;
point.x = temp;
fin >> temp;
point.y = temp;
fin >> temp;
point.z = temp;
pcdPtr->points.push_back(point);
}
if(row == pcdPtr->size())
std::cout << "Success!" << std::endl;
}
int main (int argc, char** argv)
{
// pcd to txt
pcl::PCDReader reader;
pcl::PointCloud<pcl::PointXYZI>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZI>);
std::string fileLocation = "/home/gordon/feelEnvironment/data/segByCloudCompare/raw_pointcloud/1574588098460847.pcd";
reader.read(fileLocation,*cloud);
std::cout << "ori_pointcloud size = "<< cloud->points.size() << std::endl;
std::cout << "width = " << cloud->width << "; height = " << cloud->height << std::endl;
std::cout << "sensor origin : " << cloud->sensor_origin_ << std::endl;
std::cout << "sensor orientation : " << cloud->sensor_orientation_.coeffs() << std::endl;
pcd2txt(cloud);
// txt to pcd
// pcl::PCDWriter writer;
// pcl::PointCloud<pcl::PointXYZ>::Ptr segCloud(new pcl::PointCloud<pcl::PointXYZ>);
// txt2pcd(segCloud);
// segCloud->width = segCloud->size();
// segCloud->height = 1;
// writer.write("/home/gordon/feelEnvironment/data/segByCloudCompare/xyz.pcd", *segCloud);
return 0;
}
</code></pre>
<p>The <code>CMakeLists.txt</code> looks like this</p>
<pre><code>cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
project(pcd2txt)
find_package(PCL 1.5 REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(pcd2txt pcd2txt.cpp)
target_link_libraries (pcd2txt ${PCL_LIBRARIES})
</code></pre>
<p><strong>NOTE: When saving .txt make sure to check <code>number of points (seperate line)</code></strong></p>
<h3 id="references">References:</h3>
<p><span id="ref1"></span> CloudCompare - Open Source project<br>
<span id="ref2"></span> Ubuntu18.04 cloudcompare安装 - 写东西仪式感极强（其实拖延症晚期晚期）的大龄小白<br>
<span id="ref3"></span> ubuntu - QxcbConnection error - CloudCompare won't launch - Stack Overflow<br>
<span id="ref4"></span> Still cannot open PCD files on Linux · Issue #536 · CloudCompare/CloudCompare · GitHub<br>
<span id="ref5">[5</span> 经过CloudCompare保存的点云视点改变导致的问题_旅行在明天之前昨天之后的博客-CSDN博客</p><br><br>
来源：https://www.cnblogs.com/linweilin/p/11434056.html
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