saeedghsh/mesh-to-occupancy-map

Conversion from mesh (.ply files) to bitmap Occupancy map (.png file)

Mesh-To-Occupancy-Map

Conversion from mesh (.ply files) to bitmap Occupancy map (.png file)

Example

snap shot of the ply file (from tango dev kit):

conversion result version .1 (pointset):

conversion result version .2 (interactive raycast):

Laundry List

• add slider for offset and interval
• draw lines from point to point during the interactive process
• title each figure with description (short instruction?)
• use skiz to pick raycasting points?

License

Distributed with a GNU GENERAL PUBLIC LICENSE; see LICENSE.

Copyright (C) Saeed Gholami Shahbandi

mesh-to-occupancy-map's Issues

.PLY content/fields. Error with no RGB in ply

Hi @saeedghsh

Thanks for sharing this package! Trying to give it a run.

I have both packages sitting under common directory:

ben@ben-Aspire:~/mesh-to-map$ ls
Mesh-To-Occupancy-Map Place-Categorization-2D

When running:

python mesh_to_ogm_v2.py -s -v --filename /home/ben/Documents/Wildcat/2022_08_31_00_07_24Z/output/global_wildcat_velodyne.ply

Result is:

Traceback (most recent call last):
File "mesh_to_ogm_v2.py", line 123, in
main (filename, slice_config, ogm_config, raycast_config)
File "mesh_to_ogm_v2.py", line 54, in main
ply_data, faces, [Vx, Vy, Vz, Vr, Vg, Vb, Va] = convert_mesh.load_ply_file ( file_name )
File "../lib/convert_mesh.py", line 78, in load_ply_file
Vr = ply_data['vertex'].data['red'] # u1 -> usigned int 8
File "/home/ben/.local/lib/python2.7/site-packages/numpy/core/memmap.py", line 331, in getitem
res = super(memmap, self).getitem(index)
ValueError: no field of name red

Is this because i have no data in the RGB fields in my ply? would you mind posting a demo .ply that i can test with?

Thanks heaps,
Ben

ask for tutorial

Thanks for your awesome code share!

Recently I do some research on pointcloud and png fusion, when I run you code

python2 mesh_to_ogm_v2.py --filename=test.klg.ply

and the output is blow:

 *** NO FILE IS SPECIFIED, Here is how to use this script ***

Copyright (C) 2017 Saeed Gholami Shahbandi. All rights reserved.

This program is free software: you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public License
as published by the Free Software Foundation, either version 3 of
the License, or (at your option) any later version.

This program is distributed in the hope that it will be useful, but
WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this program. If not, see
<http://www.gnu.org/licenses/>

can you give me a specific tutorial ,many thanks in advance !