Institute for Photogrammetry, University of Stuttgart, Germany
PclTool – A Tool for manipulating Pointclouds
PclTool is a tool for reading, manipulating and viewing 3D pointclouds. It is based on the Open Source library PCL version 1.6 for the processing of 3D data and the Open Source library OpenCV version 2.2 for image processing.
PclTool can be easily used from the command line to convert or modify pointcloud. Just type in “PclTool ?” for a list of all parameters. If you add the folder with the binaries to the system path, the PclTool can be accessed from each possible folder enabling a simplified use. Also, you can use it for batch processing, e.g. by .bat files or Matlab.
Supported formats (read and write):
- xyz (ASCII, with or without intensity or RGB values, linewise)
- las (ASPRS Pointcloud format, based on liblas)
- ptx (ASCII, can contain orientation or matrix structure as well)
- pcd (ASCII and binary, PCL format)
- ply (ASCII and binary)
- tif (Binary, for matrix shaped point clouds only)
- txt (containing list of point clouds, e.g. for merging, filtering, color adjustment)
The following features are currently available:
| Parameter | |
| - View pointcloud | (no params) |
| - Convert between all supported formats | <in> <out> |
| - Merge different point clouds | -add |
| - Dump certain number of points after the first point to textfile | -dump |
| - Resample by dropping points | -resize |
| - Resample using an Octree | -sample |
| - Apply bounding box / limits for each dimension (minx,maxx,miny…) | -minx, … |
| - Transform using rotation matrix and translation vector | -traf |
| - Transform using point pairs | -traf |
| - Transform into ortho plane | -traf |
| - Shift pointcloud by adding a specified value to each point | -shift |
| - Scale pointcloud by multiplying each point by specified factor | -scale |
| - Filter outliers using a statistical neighbourhood analysis | -filter |
| - Filter outliers using minimum number of points within a radius | -radius |
| - Filter points using an intensity range (min/max) | -filterint |
| - Filter points using color (min/max for each channel) | -filterrgb |
| - Smooth point cloud using a Moving-Least-Squares surface reconstruction | -mls |
| - Project cloud orthographically to desired plane, e.g. 1 for xy with certain GSD | -ortho |
| - Colorize all points using a specified color | -setcolor |
| - Colorize pointcloud using an image and an orientation file | -colorize |
| - Colorize raster pointcloud using a raster image | -addcolor |
| - Interpolate gaps in raster point cloud using path interpolation | -interp |
| - Interpolate gaps in raster point clouds using median filter (3×3 or 5×5) | -median |
| - Convert intensity values to RGB values | -int2rgb |
| - Convert RGB values to intensity | -rgb2int |
| - Convert RGB values to hue or saturation (-rgb2sat) | -rgb2sat |
| - Convert RGB values to bgr values and vice verse | -rgb2bgr |
| - Convert point cloud in matrix structure to vector structure | -vec |
| - Remove intensity information | -noint |
| - Remove color information | -norgb |
| - Write each output cloud processed list of point clouds seperately | -sep |
| - Adjust color between overlapping point clouds (list of clouds only) | -ca |
| - Filter each point by validating that they have neigbour from other cloud (list) | -multifilter |
License
Free for non-commercial and research use. For other licensing please contact us using the link below.
Remarks, Questions
Please contact me here
Parameter list, returned by passing the parameter “?”:
Usage: pcltool.exe <input_cloudpath> <output_cloudpath
Supported cloud formats: xyz, las, ptx, pcd, ply, tif
Also, multiple clouds can be listed in a txt file (will be merged)\n
Optional arguments:
-resize <scale> : Resize pointcloud using nearest neighbour
-minx <v>, -maxx, -miny etc. : Filter according to limit for x,y or z
-sample <voxel_width> : Downsample using voxel grid.
-add : First cloud is added to second one.
-vec : Convert matrix cloud to vector of points.
-traf <oripath> : transforms pointcloud using ori (X_=R’X+T)
-shift <dX> <dY> <dZ> : apply shift to point cloud.
-scale <factor> : scale point cloud.
-filter <meanK> <stdtresh> : Statistical outlier filter [50,1.0]
-radius <radius> <min_neighb> : Removes points with less neighbours in radius
-filterint <min> <max> : Filter using min and max intensity value
-filterrgb <> <> <> <> <> <> : Filter using rgb – first 3 min val then max
-mls <radius> <poly_order> : Moving least squares smoothing. [Order: 2]
-ortho <gsd> <axis(1:3)> : Projects cloud on plane (e.g. 1: x,y plane)
-interp : interpolate raster cloud gaps on paths
-median <kernel_size(3or5)> : interpolate raster cloud gaps using median
-colorize <imgpath> <oripath> : Colorize cloud with image and orientation.
-skip_black : Skip value 0,0,0 during colorization.
-setcolor <R> <G> <B> : Overwrites color of all points.
-addcolor <img path> : Image must have same amount of points.
-rgb2int -rgb2hue -rgb2sat : Converts RGB to HSV, stored as scalar
-int2rgb (<factor>) (-equal) : Intensity to RGB (optional: factor and hist-eq)
-rgb2bgr or -bgr2rgb : Color conversions between RGB and BGR space
-noint : Drop intensity data
-norgb : Drop color data
-multifilter : Multicloud filtering (only for cloudlist)
-ca <voxel cell width> : Color adjustment with cloud overlap (list)
-sep : Write clouds seperated
-dump <point count> : Write only n first points
\nExample: pcltool in.xyz out.pcd -vec -int2rgb 0 220
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