Offline Point Cloud Generator

Convert saved Hammerhead data into point clouds and save as PLY files.

Build

mkdir build
cd build
cmake ..
cmake --build . --config Release

Usage

# Linux
./offline_point_cloud_generator <data_directory> [output_directory]

# Windows
./Release/offline_point_cloud_generator.exe <data_directory> [output_directory]

Parameters

  • data_directory: Path to directory containing Hammerhead saved data
  • output_directory: Optional output directory (defaults to point_clouds folder in data_directory)

Examples

# Generate point clouds with default output location
./offline_point_cloud_generator /path/to/hammerhead/data

# Generate point clouds to specific output directory
./offline_point_cloud_generator /path/to/hammerhead/data /path/to/output

Output

  • Format: PLY files (.ply)
  • Location: point_clouds folder in data directory (or specified output directory)
  • Naming: Sequential numbering based on processed data

Features

  • High-performance C++ implementation for fast batch processing
  • Convert saved Hammerhead data into full point clouds
  • Generate PLY files compatible with CloudCompare and other tools
  • Efficient memory usage for large datasets
  • Support for both EXR and TIFF depth formats

Requirements

  • OpenCV with EXR support enabled (for legacy EXR files)
  • Complete Hammerhead data directory with depth and calibration information

Troubleshooting

  • EXR support missing: Install OpenCV with EXR support - available on most Ubuntu x86-64 installations
  • Missing data files: Ensure data directory contains all required Hammerhead output files
  • ARM compatibility: Default OpenCV on ARM systems may lack EXR support - use x86-64 system
  • Memory issues: Large datasets may require significant RAM - monitor system resources

Press Ctrl+C to stop generation.