CloudCompare
Version 2.6.1
User manual
Index table
Introduction ........................................................................................................................................................................ 7
History ............................................................................................................................................................................. 7
Philosophy ....................................................................................................................................................................... 7
Point cloud Vs Mesh ................................................................................................................................................... 7
Scalar fields ................................................................................................................................................................. 8
Some technical considerations ....................................................................................................................................... 8
Portable ....................................................................................................................................................................... 8
Trade-off between storage and speed ........................................................................................................................ 8
Recent evolution ............................................................................................................................................................. 9
License ............................................................................................................................................................................ 9
Online version ................................................................................................................................................................. 9
General concepts .............................................................................................................................................................. 10
Graphical User Interface ............................................................................................................................................... 10
Entities .......................................................................................................................................................................... 11
Main entities ............................................................................................................................................................. 11
Point cloud associated structures ............................................................................................................................. 12
Other entities ............................................................................................................................................................ 13
DB tree .......................................................................................................................................................................... 15
Drag and drop ........................................................................................................................................................... 15
Selection.................................................................................................................................................................... 15
Context menu ........................................................................................................................................................... 15
Entity properties ........................................................................................................................................................... 16
Scalar field display parameters editor ...................................................................................................................... 17
Supported file formats .................................................................................................................................................. 18
Display modes ............................................................................................................................................................... 20
Main display modes .................................................................................................................................................. 20
Global Shift and Scale ................................................................................................................................................... 23
Introduction .............................................................................................................................................................. 23
But why? ................................................................................................................................................................... 23
Mathematics ............................................................................................................................................................. 23
Properties .................................................................................................................................................................. 24
Edition ....................................................................................................................................................................... 24
Bookmarks ................................................................................................................................................................ 24
Tutorials and guidelines .................................................................................................................................................... 25
Alignment and Registration .......................................................................................................................................... 25
General considerations ............................................................................................................................................. 25
Alignment .................................................................................................................................................................. 26
Automatic registration .............................................................................................................................................. 27
Distances Computation ................................................................................................................................................. 29
Cloud-cloud distances ............................................................................................................................................... 29
Cloud-mesh distances ............................................................................................................................................... 31
How to compare two 3D entities .................................................................................................................................. 32
Load data .................................................................................................................................................................. 32
Data preparation ....................................................................................................................................................... 32
Data comparison ....................................................................................................................................................... 34
Tools and algorithms ......................................................................................................................................................... 36
File menu ...................................................................................................................................................................... 36
Open.......................................................................................................................................................................... 36
Save ........................................................................................................................................................................... 37
Primitive Factory ....................................................................................................................................................... 38
3D mouse > Enable ................................................................................................................................................... 39
Close all ..................................................................................................................................................................... 39
Quit ........................................................................................................................................................................... 39
Edit menu ...................................................................................................................................................................... 40
Clone ......................................................................................................................................................................... 40
Merge ........................................................................................................................................................................ 40
Subsample ................................................................................................................................................................. 41
Apply Transformation ............................................................................................................................................... 43
Multiply / Scale ......................................................................................................................................................... 44
Translate / Rotate (Interactive Transformation Tool) ............................................................................................... 45
Segment (Interactive Segmentation Tool) ................................................................................................................ 46
Crop ........................................................................................................................................................................... 50
Edit global shift and scale ......................................................................................................................................... 51
Toggle (recursive) menu ........................................................................................................................................... 52
Delete ........................................................................................................................................................................ 53
Colors > Set Unique ................................................................................................................................................... 53
Colors > Colorize ....................................................................................................................................................... 53
Colors > Levels .......................................................................................................................................................... 54
Colors > Height Ramp................................................................................................................................................ 55
Colors > Convert to Scalar Field ................................................................................................................................ 56
Colors > Interpolate from another entity ................................................................................................................. 56
Colors > Clear ............................................................................................................................................................ 57
Normals > Compute .................................................................................................................................................. 57
Normals > Invert ....................................................................................................................................................... 59
Normals > Orient Normals > With Minimum Spanning Tree .................................................................................... 59
Normals > Orient Normals > With Fast Marching ..................................................................................................... 59
Normals > Convert to > HSV...................................................................................................................................... 60
Normals > Convert to > Dip and Dip direction SFs .................................................................................................... 60
Normals > Clear ......................................................................................................................................................... 60
Octree > Compute ..................................................................................................................................................... 61
Octree > Resample .................................................................................................................................................... 61
Mesh > Delaunay 2.5D (XY plane) ............................................................................................................................. 62
Mesh > Delaunay 2.5D (best fit plane) ...................................................................................................................... 62
Mesh > Convert texture/material to RGB ................................................................................................................. 63
Mesh > Sample points ............................................................................................................................................... 63
Mesh > Smooth (Laplacian) ....................................................................................................................................... 64
Mesh > Subdivide ...................................................................................................................................................... 64
Mesh > Measure surface ........................................................................................................................................... 65
Mesh > Measure volume .......................................................................................................................................... 65
Mesh > Flag vertices.................................................................................................................................................. 66
Mesh > Scalar field > Smooth .................................................................................................................................... 66
Mesh > Scalar field > Enhance .................................................................................................................................. 67
Sensors > Edit ............................................................................................................................................................ 67
Sensors > Ground Based Lidar > Create .................................................................................................................... 68
Sensors > Ground Based Lidar > Show Depth Buffer ................................................................................................ 69
Sensors > Ground Based Lidar > Export Depth Buffer .............................................................................................. 70
Sensors > Camera Sensor > Create ........................................................................................................................... 71
Sensors > Camera Sensor > Project uncertainty ....................................................................................................... 72
Sensors > Camera Sensor > Compute points visibility (with octree) ........................................................................ 72
Sensors > View from sensor ...................................................................................................................................... 73
Sensors > Compute ranges........................................................................................................................................ 74
Sensors > Compute scattering angles ....................................................................................................................... 74
Scalar fields > Show histogram ................................................................................................................................. 75
Scalar fields > Compute statistical parameters ......................................................................................................... 75
Scalar fields > Gradient ............................................................................................................................................. 76
Scalar fields > Gaussian filter .................................................................................................................................... 77
Scalar fields > Bilateral filter ..................................................................................................................................... 78
Scalar fields > Filter by Value .................................................................................................................................... 78
Scalar fields > Convert to RGB ................................................................................................................................... 78
Scalar fields > Convert to random RGB ..................................................................................................................... 79
Scalar fields > Rename .............................................................................................................................................. 79
Scalar fields > Add constant SF ................................................................................................................................. 80
Scalar fields > Add point indexes as SF ..................................................................................................................... 80
Scalar fields > Export coordinate(s) to SF(s) .............................................................................................................. 81
Scalar fields > Set SF as coordinate(s) ....................................................................................................................... 81
Scalar fields > Arithmetic .......................................................................................................................................... 82
Scalar fields > Color Scales Manager ......................................................................................................................... 83
Scalar fields > Delete ................................................................................................................................................. 85
Scalar fields > Delete all (!) ........................................................................................................................................ 85
Tools menu ................................................................................................................................................................... 86
Level .......................................................................................................................................................................... 86
Point picking .............................................................................................................................................................. 87
Point list picking ........................................................................................................................................................ 89
Clean > Noise filter .................................................................................................................................................... 90
Projection > Unroll .................................................................................................................................................... 92
Projection > Rasterize ............................................................................................................................................... 93
Projection > Contour plot to mesh ........................................................................................................................... 98
Projection > Export coordinate(s) to SF(s) ................................................................................................................ 99
Registration > Match bounding-box centers ............................................................................................................ 99
Registration > Match scales .................................................................................................................................... 100
Registration > Align (point pairs picking) ................................................................................................................ 101
Registration > Fine registration (ICP) ...................................................................................................................... 104
Distances > Cloud/Cloud dist. (cloud-to-cloud distance) ........................................................................................ 106
Distances > Cloud/Mesh dist. (cloud-to-mesh distance) ........................................................................................ 110
Distances > Closest Point Set .................................................................................................................................. 112
Statistics > Local Statistical Test .............................................................................................................................. 113
Statistics > Compute Stat. Params .......................................................................................................................... 116
Segmentation > Label Connected Components ...................................................................................................... 117
Segmentation > Cross Section ................................................................................................................................ 118
Segmentation > Extract Sections ............................................................................................................................ 122
Fit > Plane................................................................................................................................................................ 127
Fit > Sphere ............................................................................................................................................................. 128
Fit > 2D Polygon ...................................................................................................................................................... 129
Fit > Quadric ............................................................................................................................................................ 130
Other > Density ....................................................................................................................................................... 131
Other > Curvature ................................................................................................................................................... 132
Other > Roughness .................................................................................................................................................. 133
Other > Remove duplicate points ........................................................................................................................... 133
Display menu .............................................................................................................................................................. 135
Full screen ............................................................................................................................................................... 135
Refresh .................................................................................................................................................................... 135
Toggle Centered Perspective .................................................................................................................................. 135
Toggle Viewer Based Perspective ........................................................................................................................... 135
Lock rotation about vert. axis ................................................................................................................................. 135
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