CloudCompare wiki - User contributions [en]

Apply Transformation

2019-03-14T12:48:48Z

UnivSilesia:

[[pl:Transformacja]]

== Menu / icon ==

This tool is accessible via the 'Edit > Apply transformation' menu.

== Description ==

This tool allows the user to transform (i.e. rotate and/or translate) the selected entities. The transformation to apply can be input in various ways.

[[Image:Cc_apply_transformation.jpg|frame|center|'Apply transformation' dialog]]

== Start ==

The user must select one or several entities before launching this tool. The entities can be about any 3D geometry (clouds, meshes, polylines, primitives, etc.).

Note: locked entities (sub-meshes, etc.) can't be moved this way.

== Procedure ==

The user has multiple choices to set the transformation to apply (see below for more details):
* as a transformation matrix
* the combination of a rotation axis, a rotation angle and a translation vector
* the combination of [http://en.wikipedia.org/wiki/Euler_angles Euler angles] and a translation vector

A checkbox let the user specify if he wishes to apply the currently defined transformation or it's inverse ('''Apply inverse transformation''').

Once defined the transformation can be applied by clicking on the OK button (or the process can be canceled by clicking on the Cancel button).

'''The transformation is applied to all selected entities and to their children (recursively).''' The transformation is added to each entity's [[Transformation history]].

== Input a transformation ==

=== Transformation matrix ===

A rigid transformation matrix is a composition of a rotation (a 3x3 matrix) and a translation (a 3D vector). For convenience, it can be written as a 4x4 matrix (the rotation matrix corresponds to the upper part of the 3 first columns, the translation vector corresponds to the upper part of the 4th column, and the bottom line is always filled with 3 'zeros' and a 'one').

In he first tab (''"Matrix 4x4"'') the user can input the matrix values directly; or load them from a text file (each row of the matrix on a single line, i.e. 4 values separated by a space character); or eventually paste it from the clipboard. For instance, most of the registration tools in CloudCompare will output the final transformation as a 4x4 matrix in the Console. The user can copy it (''with CTRL+C on Windows'') and paste it here so as to apply the same transformation to another entity.

=== Rotation axis and angle + translation ===

The rotation part of the transformation can be input as a single rotation angle about a 3D axis. The second tab (''"Axis, Angle"'') let the user input those values (the angle is in degrees). It's the fastest way to apply simple rotations about X, Y or Z for instance.

=== Euler angles + translation ===

The third tab (''"Euler angles"'') let the user define the rotation as [http://en.wikipedia.org/wiki/Euler_angles Euler angles] angles (phi, theta and psi).

Primitive Factory

2019-03-14T11:55:26Z

UnivSilesia:

[[pl:Modelowanie bryłowe]]

== Menu / Icon ==

This tool is accessible via the 'File > Primitive factory' menu or the [[Image:DbMiscGeomSymbol.png]] icon in the upper main toolbar.

== Description ==

The Primitive Factory lets you create primitive objects (planes, spheres, boxes, etc.).

[[Image:Cc_primitive_factory_dialog.jpg|frame|center|File > Primitive factory]]

You can choose the primitive type by selecting the right tab (Plane, Box, Sphere, Cylinder, Cone, Torus and Dish). For the selected primitive, you can edit its parameters (mainly dimensions) then create it by clicking on the 'Create' button. The process can be repeated several types (you can change the primitive type as well) until you close the factory with the 'Close' button.

Notes:
* optionally you can also set the initial precision (i.e. the amount of triangles of the tessellated version of the primitive). However this parameter can be freely changed later in the primitive parameters
* primitives are defined along the main axes (X, Y and Z) by default. However you can apply a rigid transformation to it afterwards with the [[ApplyTransformation | Apply transformation]] method.

Primitive Factory

2019-03-14T11:51:02Z

UnivSilesia:

[[pl:Editing Primitive Factory]]

== Menu / Icon ==

This tool is accessible via the 'File > Primitive factory' menu or the [[Image:DbMiscGeomSymbol.png]] icon in the upper main toolbar.

== Description ==

The Primitive Factory lets you create primitive objects (planes, spheres, boxes, etc.).

[[Image:Cc_primitive_factory_dialog.jpg|frame|center|File > Primitive factory]]

You can choose the primitive type by selecting the right tab (Plane, Box, Sphere, Cylinder, Cone, Torus and Dish). For the selected primitive, you can edit its parameters (mainly dimensions) then create it by clicking on the 'Create' button. The process can be repeated several types (you can change the primitive type as well) until you close the factory with the 'Close' button.

Notes:
* optionally you can also set the initial precision (i.e. the amount of triangles of the tessellated version of the primitive). However this parameter can be freely changed later in the primitive parameters
* primitives are defined along the main axes (X, Y and Z) by default. However you can apply a rigid transformation to it afterwards with the [[ApplyTransformation | Apply transformation]] method.

Global Shift settings

2019-03-01T20:36:03Z

UnivSilesia:

[[pl:Ustawienia globalnego przesunięcia]]

== Menu / Icon ==

This option is accessible via the 'File > Global Shift settings' menu entry.

== Description ==

The user can control above which threshold the [[Global_Shift_and_Scale | Global Shift & Scale]] mechanism will be triggered.

[[File:Cc_global_shift_settings.JPG|center]]

Default values are 1000 (1E4) for coordinates or 1000 (1E4) for the bounding box diagonal.

'''Warning: increasing these values is not recommended, as it can cause a loss of accuracy when loading files with big coordinates.'''

Save

2019-03-01T17:19:43Z

UnivSilesia:

[[pl:Zapisz]]

== Menu / Icon ==

This tool is accessible via the 'File > Save' menu or the [[Image:ccSave_small.png]] icon in the upper main toolbar.

== Description ==

This tool let the user save/export one or several entities to a file.

[[Image:Cc_save_dialog.jpg|frame|center|File > Save dialog]]

== Procedure ==

Select one or several entities then call this method.

Warnings:
* be sure to select the right file type in the ''Type'' drop-down list.
* depending on the entities number and types, the available file types may change
* some file types don't support non-ASCII characters (accents, non-occidental characters, etc.)

== Supported formats ==

See the supported file formats in the [[FILE_I/O | FILE I/O]] section.

Open

2019-02-23T21:55:23Z

UnivSilesia:

[[pl:Otwórz]]

== Menu / Icon ==

This tool is accessible via the 'File > Open' menu or the [[Image:ccOpen_small.png]] icon in the upper main toolbar.

== Description ==

Loads entities from one or several files.

[[Image:Cc_load_dialog.jpg|frame|center|File > Load dialog]]

== Procedure ==

Select the right file type (with the drop-down list next to the filename field). Alternatively you can let CloudCompare guess it from the file extension (use the 'All (*.*)' entry).

A file typically contains one or several entities (clouds, meshes, etc.).

Notes:
* read-only access to the files. Moreover, once the entities are loaded CloudCompare will close the file and 'forget' about it.
* the loaded entities are automatically put in a 'group' which has the input filename as name. However this group has no link to the file.
* alternatively, files can be opened by dragging them from the file explorer and dropping them on a 3D view.

== Supported formats ==

See the supported file formats in the [[FILE_I/O | FILE I/O]] section.

Methods

2019-02-20T11:50:50Z

UnivSilesia:

[[pl:Funkcje w menu]]

= Menus =

Here are described all the methods of CloudCompare in the order they appear in the menu.

''(version: 2.6.2)''

== File ==

* [[Open]] [[File:ccOpen_small.png]]
* Open Recent... (''open recent files'')
* [[Save]] [[File:ccSave_small.png]]
* [[Global Shift settings]]
* [[Primitive Factory | Primitive factory]] [[File:DbMiscGeomSymbol.png]]
* [[mouse3D | 3D mouse > Enable]] [[Image:3dconnexion_logo.jpg]]
* [[Gamepad | Gamepad > Enable]] [[Image:Gamepad.png|16px]]
* Close all (''close all loaded entities'')
* Quit (''should be pretty clear!'')

== Edit ==

* [[Clone]] [[Image:CcClone.png]]
* [[Merge]] [[Image:CcMerge.png]]
* [[Edit\Subsample | Subsample]] [[Image:CcSampleCloud.png]]
* [[Apply Transformation | Apply transformation]]
* [[Multiply/Scale]]
* [[Interactive Transformation Tool | Translate/Rotate]] [[Image:CCMoveIcon.png]]
* [[Interactive Segmentation Tool | Segment]] [[File:CCSegmentIcon.png]]
* [[Crop]]
* [[Edit global shift and scale]]
* [[Toggle (menu) | Toggle (recursive) submenu]]
* Delete (''delete the selected entities'')

=== Colors ===

* [[Colors\Set Unique | Set unique]] [[File:TypeRgbCcolor.png]]
* [[Colors\Colorize | Colorize]]
* [[Colors\Levels | Levels]]
* [[Colors\Height Ramp | Height ramp]]
* [[Colors\Convert to grey scale | Convert to grey scale]]
* [[Colors\Convert to Scalar Field | Convert to scalar field]]
* [[Colors\Interpolate from another entity | Interpolate from another entity]]
* [[Colors\Enhance with intensities | Enhance with intensities]]
* Clear (''remove the color field of the selected entities'')

=== Normals ===
* [[Normals\Compute | Compute]] [[File:TypeNormal.png]]
* [[Normals\Invert | Invert]]
* [[Normals\Orient Normals With Minimum Spanning Tree | Orient normals > With Minimum Spanning Tree]]
* [[Normals\Orient Normals With Fast Marching | Orient normals > with Fast Marching]]
* [[Normals\Convert to HSV | Convert to > HSV colors]]
* [[Normals\Convert to Dip and Dip direction SFs | Convert to > Dip & Dip direction SFs]]
* Clear (''remove normals from the selected entities'')

=== Octree ===
* [[Octree\Compute | Compute]] [[File:OctreeSymbol.png]]
* [[Octree\Resample | Resample]]

=== Grid ===
* [[Grid\Delete | Delete scan grids]]
* [[Grid\Mesh | Mesh scan grids]]

=== Mesh ===
* [[Mesh\Delaunay_2.5D_(XY_plane) | Delaunay 2.5D (XY plane)]]
* [[Mesh\Delaunay_2.5D_(best_fit_plane) | Delaunay 2.5D (best fit plane)]]
* [[Mesh\Surface between two polylines | Surface between two polylines]]
* [[Mesh\Convert texture/material to RGB | Convert texture/material to RGB]] [[File:TypeRgbCcolor.png]]
* [[Mesh\Sample points | Sample points]] [[File:CCSamplePointsIcon.png]]
* [[Mesh\Smooth (Laplacian) | Smooth (Laplacian)]]
* [[Mesh\Subdivide | Subdivide]]
* [[Mesh\Measure surface | Measure surface]]
* [[Mesh\Measure volume | Measure volume]]
* [[Mesh\Flag vertices | Flag vertices by type]]
==== Mesh \ Scalar field ====
* [[Mesh\Scalar field\Smooth | Smooth]]
* [[Mesh\Scalar field\Enhance | Enhance]]

=== Plane ===
* [[Plane\Edit and Create | Create]]
* [[Fit Plane | Fit]]
* [[Plane\Edit and Create | Edit]]

=== Sensors ===
* [[Sensors\Edit| Edit]]
==== Sensors \ TLS/GBL [[Image:SensorSymbol.png]] ====
* [[Sensors\Ground Based Lidar\Create | Create]]
* [[Sensors\Ground Based Lidar\Show Depth Buffer | Show Depth Buffer]]
* [[Sensors\Ground Based Lidar\Export Depth Buffer | Export Depth Buffer]]
* [[Sensors\Ground Based Lidar\Compute Points Visibility With Depth Buffer | Compute points visibility with depth buffer]]

==== Sensors \ Camera Sensor [[Image:DbCamSensorSymbol.png]] ====
* [[Sensors\Camera Sensor\Create | Create]]
* [[Sensors\Camera Sensor\Project uncertainty | Project uncertainty]]
* [[Sensors\Camera Sensor\Compute points visibility (with octree) | Compute points visibility (with octree)]]
==== Sensors \ Other ====
* [[Sensors\View from sensor | View from sensor]] [[Image:DbViewportSymbol.png]]
* [[Sensors\Compute ranges | Compute ranges]]
* [[Sensors\Compute scattering angles | Compute scattering angles]]

=== Scalar fields ===
* [[Scalar fields\Show histogram | Show histogram]] [[Image:CcHistogram.png]]
* [[Scalar fields\Compute statistical parameters | Compute stat. params]] [[Image:CcComputeStat.png]]
* [[Scalar fields\Gradient | Gradient]] [[Image:CcGradient.png]]
* [[Scalar fields\Gaussian filter | Gaussian filter]] [[Image:CcGaussianFilter.png]]
* [[Scalar fields\Bilateral filter | Bilateral filter]] [[Image:CcBilateralFilter.png]]
* [[Scalar fields\Filter by Value | Filter by Value]] [[Image:CcFilterByValue.png]]
* [[Scalar fields\Convert to RGB | Convert to RGB]] [[Image:TypeRgbCcolor.png]]
* [[Scalar fields\Convert to random RGB | Convert to random RGB]]
* [[Scalar fields\Rename | Rename]]
* [[Scalar fields\Add constant SF | Add constant SF]] [[Image:CcAddConstSF.png]]
* [[Scalar fields\Add point indexes as SF | Add point indexes as SF]]
* [[Scalar fields\Export coordinate(s) to SF(s) | Export coordinate(s) to SF(s)]]
* [[Scalar fields\Set SF as coordinate(s) | Set SF as coordinate(s)]]
* [[Scalar fields\Interpolate from another entity | Interpolate from another entity]]
* [[Scalar fields\Arithmetic | Arithmetic]] [[Image:CcSfArithmetic.png]]
* [[Scalar fields\Color Scales Manager | Color Scales Manager]] [[Image:TypeSF.png]]
* Delete [[Image:CcDeleteSF.png]] (deletes the active scalar field of the selected entities)
* Delete all (!) (deletes all scalar fields of the selected entities)

=== Waveform ===
* [[Waveform\2D Waveform viewer | 2D Waveform viewer]]
* [[Waveform\Compress FWF data | Compress FWF data]]

== Tools ==

* [[Level]] [[Image:CcLevel small.png]]
* [[Point Picking]] [[Image:CcPointPicking_small.png]]
* [[Point list picking]] [[Image:CcPointListPicking_small.png]]
* [[Trace polyline]] [[Image:CcTracePolyline.png]]

=== Clean ===
* [[SOR filter]]
* [[Noise filter]]

=== Projection ===
* [[Unroll]]
* [[Rasterize]] [[Image:CcGrid_small.png]]
* [[Contour plot to mesh]]
* [[Scalar fields\Export coordinate(s) to SF(s) | Export coordinate(s) to SF(s)]]
* [[Mesh\Surface between two polylines | Create surface between two polylines]]

=== Registration ===
* [[Match bounding box centers]]
* [[Match scales]]
* [[Align | Align (point pairs picking)]] [[File:Cc_pointPairAlignIcon.png‎]]
* [[ICP | Fine registration (ICP)]] [[File:CCRegisterIcon.png‎]]

=== Distances ===
* [[Cloud-to-Cloud_Distance | Cloud/Cloud Dist.]] [[File:CloudCloudDistanceIcon.png‎]]
* [[Cloud-to-Mesh Distance | Cloud/Mesh Dist.]] [[File:CloudMeshDistanceIcon.png]]
* [[Closest Point Set]]

=== Volume ===
* [[2.5D Volume | Compute 2.5D volume]]

=== Statistics ===
* [[Local Statistical Test]] [[Image:CcStatTest.png]]
* [[Compute Stat Params | Compute stat. params (active SF)]] [[File:CcComputeStat.png]]

=== Segmentation ===
* [[Label Connected Components | Label Connected Comp.]] [[Image:CcCCExtract.png]]
* [[Cross Section]] [[Image:CcClippingBox_small.png]]
* [[Extract Sections]] / Unfold [[Image:DbPolylineSymbol.png]]

=== Fit ===
* [[Fit Plane | Plane ]]
* [[Fit Sphere | Sphere ]]
* [[Fit 2D Polygon | 2D Polygon (facet) ]]
* [[Fit Quadric | 2.5D Quadric ]]

=== Batch export ===
* [[Export cloud info]]
* [[Export plane info]]

=== Other ===
* [[Density]]
* [[Curvature]]
* [[Roughness]]
* [[Remove duplicate points]]

== Display ==
* [[Full screen]] [[Image:CcFullScreen_small.png]]
* [[Full screen (3D view)]] [[Image:CcFullScreen_small.png]]
* [[Refresh]] [[Image:SmallReset.png]]
* [[Toggle Centered Perspective]] [[Image:CcCenteredPerspective_small.png]]
* [[Toggle Viewer Based Perspective]] [[Image:CcViewerBasedPerspective_small.png]]
* [[Show cursor coordinates]]
* [[Lock rotation about vert. axis]]
* [[Enter bubble-view mode]]
* [[Camera link]]
* [[Render to File]]
* [[Display\Display settings | Display options]] [[Image:CcSettings.png]]
* [[Display\Camera settings | Camera settings]] [[Image:Camera.png]]
* [[Display\Save viewport as object | Save viewport as object]] [[Image:DbViewportSymbol.png]]
* [[Display\Adjust zoom | Adjust zoom]]
* [[Display\Test Frame Rate | Test Frame Rate]]

=== Lights ===
* [[Display\Lights\Toggle Sun Light | Toggle Sun Light]]
* [[Display\Lights\Toggle Custom Light | Toggle Custom Light]]

=== Shaders & Filters ===
* [[Display\Shaders and Filters\Remove filter | Remove filter]]
* ''dynamically loaded shaders & filters'': [[Plugin qEDL | qEDL]], [[Plugin qSSAO | qSSAO]], etc.

=== Active scalar field ===
* [[Display\Active scalar field\Toggle color scale | Toggle color scale]]
* [[Display\Active scalar field\Show previous SF | Show previous SF]]
* [[Display\Active scalar field\Show next SF | Show next SF]]

=== Other ===
* [[Console]] [[Image:CcConsole_small.png]]
* [[Toolbars]]
* [[Display\Reset all GUI elements | Reset all GUI elements]]

== Plugins ==
''Dynamic content (depends on the current version/platform)''.

Go to the [[Plugins]] section for the full list.

== 3D Views ==
* New
* Close
* Close All
* Tile
* Cascade
* Next
* Previous

== Help ==
* [[Help menu | Help]]
* [[About menu | About ...]]
* [[About Plugins menu| About Plugins ...]]

Global Shift and Scale

2019-02-20T11:49:34Z

UnivSilesia:

[[pl:Globalne przesunięcie i przeskalowanie]]

== Introduction ==

When loading (or generating) an entity with very big coordinates (typically greater than 105), CloudCompare will warn the user about this and suggest to shift (or rescale) the entity in order to work in a local coordinate system with smaller coordinates:
[[Image:Cc_shift_and_scale_dialog.jpg|frame|center|CloudCompare will suggest the user to shift the cloud if its original coordinates are too big]]

'''It is strongly advised to shift/scale the entities in this case.'''

== But why? ==

This is due to the fact that both CloudCompare and OpenGL works with 32 bits [http://fr.wikipedia.org/wiki/IEEE_754 float] values. This allows an increase of speed and a 50% memory gain compared to 64 bits values.

However the 32 bits representation has a limited resolution (accuracy). Without entering into too much details here, we can say that the bigger the number is, the less decimals can be stored. As a rule of thumb the 'relative' precision (i.e. the smallest quantity that can be represented relatively to the maximal value) is roughly between 10-7 and 10-8.

This is generally more than sufficient for real life point clouds expressed in the scanner coordinate system (e.g. for a 100 meters range scan, the data representation precision will be around 10-5 or 10-6 m = 1 to 10 microns).

However if the cloud is expressed in a geo-referenced coordinate system, the point coordinates can be very big (typically about 106). In this case the data representation precision rises up to 1 or 10 cm!

This is why it is very important to 'shift' the points when loading the file in CloudCompare. Otherwise the original precision will be lost.

CloudCompare stores the shift and scale values as ''meta-data'' and (tries to) keep them all along the entity life. '''Eventually, when the user saves the entity CloudCompare will restore the original coordinate system''' (''if the output file format allows for 64 bits values storage'').

== Mathematics ==

The global shift and global scale encode the transformation between the original (global) coordinate system of the entity and the working local) coordinate system.

Let '''T(x,y,z)''' be the global shift (translation), '''S''' be the global scale, and '''P''' a 3D point, then:

<div style="text-align: center;">Plocal = (Pglobal + T) * S</div>

or equivalently:

<div style="text-align: center;">Pglobal = Plocal / S - T</div>

== Properties ==

The shift and scale values are displayed in the entity properties (if the entity support this):
[[Image:Cc_properties_shift_scale.jpg | center]]

== Edition ==

At any time the user can edit the shift and scale values associated to a given entity. See the 'Edit > [[Edit global shift and scale]]' tool.

== Activation parameters ==

Since version 2.7, the user can choose the limit above which the Global Shift & Scale mechanism will be triggered. See the 'File > Global Shift settings' dialog:
[[Image:Cc_global_shift_and_scale_limits.jpg | center]]

These parameters are persistant. And they will be used for both the standard version and the command line version.

== Bookmarks ==

By default CloudCompare tries to guess the best shift vector automatically (typically when loading a file, CloudCompare will use the very first point coordinates as shift quantity). But the user is free to input the shift and scale values (''especially if one works with several clouds and want to work in a particular local coordinate system'').

Once a first shift/scale has been used, CloudCompare will:
* use it for the next clouds if it works for them as well
* let the user recall it whatever the case thanks to the drop down menu in the middle (just above the 'Shift' fields - see the '''Last input''' entry)

However this information will only be stored during the active session of CloudCompare (it will be lost once you close the program). In order to keep the information persistent, you can edit the ''global_shift_list_template.txt'' file next to CloudCompare's executable and follow the instructions inside. This is a good way to store persistent shift/scale information sets (kind of "bookmarks").

Global Shift and Scale

2019-02-20T11:49:20Z

UnivSilesia:

[[en:Globalne przesunięcie i przeskalowanie]]

== Introduction ==

When loading (or generating) an entity with very big coordinates (typically greater than 105), CloudCompare will warn the user about this and suggest to shift (or rescale) the entity in order to work in a local coordinate system with smaller coordinates:
[[Image:Cc_shift_and_scale_dialog.jpg|frame|center|CloudCompare will suggest the user to shift the cloud if its original coordinates are too big]]

'''It is strongly advised to shift/scale the entities in this case.'''

== But why? ==

This is due to the fact that both CloudCompare and OpenGL works with 32 bits [http://fr.wikipedia.org/wiki/IEEE_754 float] values. This allows an increase of speed and a 50% memory gain compared to 64 bits values.

However the 32 bits representation has a limited resolution (accuracy). Without entering into too much details here, we can say that the bigger the number is, the less decimals can be stored. As a rule of thumb the 'relative' precision (i.e. the smallest quantity that can be represented relatively to the maximal value) is roughly between 10-7 and 10-8.

This is generally more than sufficient for real life point clouds expressed in the scanner coordinate system (e.g. for a 100 meters range scan, the data representation precision will be around 10-5 or 10-6 m = 1 to 10 microns).

However if the cloud is expressed in a geo-referenced coordinate system, the point coordinates can be very big (typically about 106). In this case the data representation precision rises up to 1 or 10 cm!

This is why it is very important to 'shift' the points when loading the file in CloudCompare. Otherwise the original precision will be lost.

CloudCompare stores the shift and scale values as ''meta-data'' and (tries to) keep them all along the entity life. '''Eventually, when the user saves the entity CloudCompare will restore the original coordinate system''' (''if the output file format allows for 64 bits values storage'').

== Mathematics ==

The global shift and global scale encode the transformation between the original (global) coordinate system of the entity and the working local) coordinate system.

Let '''T(x,y,z)''' be the global shift (translation), '''S''' be the global scale, and '''P''' a 3D point, then:

<div style="text-align: center;">Plocal = (Pglobal + T) * S</div>

or equivalently:

<div style="text-align: center;">Pglobal = Plocal / S - T</div>

== Properties ==

The shift and scale values are displayed in the entity properties (if the entity support this):
[[Image:Cc_properties_shift_scale.jpg | center]]

== Edition ==

At any time the user can edit the shift and scale values associated to a given entity. See the 'Edit > [[Edit global shift and scale]]' tool.

== Activation parameters ==

Since version 2.7, the user can choose the limit above which the Global Shift & Scale mechanism will be triggered. See the 'File > Global Shift settings' dialog:
[[Image:Cc_global_shift_and_scale_limits.jpg | center]]

These parameters are persistant. And they will be used for both the standard version and the command line version.

== Bookmarks ==

By default CloudCompare tries to guess the best shift vector automatically (typically when loading a file, CloudCompare will use the very first point coordinates as shift quantity). But the user is free to input the shift and scale values (''especially if one works with several clouds and want to work in a particular local coordinate system'').

Once a first shift/scale has been used, CloudCompare will:
* use it for the next clouds if it works for them as well
* let the user recall it whatever the case thanks to the drop down menu in the middle (just above the 'Shift' fields - see the '''Last input''' entry)

However this information will only be stored during the active session of CloudCompare (it will be lost once you close the program). In order to keep the information persistent, you can edit the ''global_shift_list_template.txt'' file next to CloudCompare's executable and follow the instructions inside. This is a good way to store persistent shift/scale information sets (kind of "bookmarks").

Display modes

2019-02-20T11:47:12Z

UnivSilesia:

[[pl:Tryby wyświetlania]]

3D entities can be displayed in one or multiple 3D views. Several ''display modes'' can be set in each 3D view.

= Main display modes =

The orthographic and perspective modes can be enabled at any time thanks to the 'Set current view mode' icon in the left toolbar:

[[Image:Cc_display_modes_toolbar.jpg|border]]

== [[File:CcOrthoMode32.png]] Orthographic view ==

This is the default viewing mode. It is a parallel projection (i.e. parallel lines never cross).

See [http://en.wikipedia.org/wiki/Orthographic_projection http://en.wikipedia.org/wiki/Orthographic_projection] for a bit of theory.

[[Image:Cc_ortho_view_example.jpg|center]]

Note: in this mode, a white scale is displayed (in the bottom right corner of the 3D view). Its actual dimension in the current coordinate system is displayed below.

== Perspective view ==

The perspective projection consists in projecting a 3D scene on a 2D plane as if it was seen by the human eye (or a single camera).

The main parameter for this mode is the ''field of view'' (f.o.v.). It can be changed via the [[Display\Camera settings | Camera settings]].

See [http://en.wikipedia.org/wiki/Perspective_(graphical) http://en.wikipedia.org/wiki/Perspective_(graphical)] for a bit of theory.

[[Image:Cc_perspective_view_example.jpg|center]]

Notes: in this mode, no scale is displayed as the 'width' depends on the actual depth of each pixel.

There are two types of perspective modes in CloudCompare.

=== [[Image:CcCenteredPerspective32.png]] Object-centered ===

In the 'object-centered perspective' mode, the object rotates when the user moves the mouse while pressing the left button (the camera orientation is fixed). Using the mouse wheel will make the object farther or nearer from the current point of view.

Note: this mode can be toggled with the 'F3' shortcut.

=== [[Image:CcViewerBasedPerspective32.png]] Viewer-based ===

In the 'viewer-based perspective' mode, the camera rotates when the user moves the mouse while pressing the left button. And using the mouse wheel make the camera move forward or backward in the current viewing direction.

Note: this mode can be toggled with the 'F4' shortcut.

= Fullscreen =

CloudCompare has two different "fullscreen" mode:
* either a standard ''fullscreen application'' mode (shortcut: F9)
* or an 3D view ''exclusive fullscreen" mode (shortut: F11)

In exclusive fullscreen mode, only the active 3D view is made fullscreen (and will stay on top). This mode can be left by pressing on F11 again, or using the 'Leave fullscreen mode' icon that appears when the mouse hovers the upper-left part of the screen.

These options are also available via the 'Display' menu.

= Bubble-view (polar) =

This viewing mode can be (properly) enabled via a 'GBL/TLS sensor' entity or a cloud associated to such a sensor. They are generally structured point clouds (PTX, FARO, etc.).

To enable this mode:
* highlight the sensor entity in the DB tree and click on the 'Apply' button in its properties (''Viewport'' section)
* or press the ''B'' shortcut if a sensor or an entity associated to a sensor object is highlighted

While in this mode, the camera position is fixed (normally at the sensor center) and the user can only rotate it (with the left mouse button) or change the zoom (with the mouse wheel).

Note: in fact the zoom is simply obtained by modifying the camera field of view (f.o.v.). Therefore high optical distortion can occur after a certain point.

[[Image:Cc_bubble_view_mode.jpg|frame|center|FARO scan viewed in polar 'bubble-view' mode]]

To leave this mode the user must click on the [[Image:CcExit.png]] icon in the top left corner of the 3D view.

= Stereo mode =

To activate one of the stereo modes, the user must click on the [[Image:CcStereo.png]] icon in the left '3D view' toolbar.
The following dialog will appear:
[[Image:Cc_stereo_mode_dialog.jpg|center]]

Simply click on the same icon again to deactivate this mode.

== Anaglyph ==

Since version 2.6.2, CloudCompare has a new 'stereoscopic' display mode.

This display mode should be used while wearing (cardboard) red and blue or red and cyan glasses.

The user must choose the right type of glasses (red/blue or red/cyan, and blue/red or cyan/red since version 2.7) as well as the eye separation ratio. Increasing this ratio will increase the stereo effect... but this can also cause an unnatural feeling and headaches ;). One can also choose to use a dynamic focal distance (so as to always focus on the current rotation center whatever the camera position) or a fixed focal distance (typically if you need to focus on a particular point in the scene - however moving around with a fixed focal might also be very strange and give you headaches ;).

[[Image:Cc_stereo_mode_car.jpg|center]]

Please note that:
* only perspective projection modes are compatible with stereovision (if the user attempts to switch to orthographic mode, CloudCompare will warn him and will ask him to confirm before leaving the stereo mode).

''Note: OpenGL filters (shaders) might not be properly supported by this mode.''

== NVidia 3D Vision ==

[[Image:Nvidia_3d_vision.jpg|center]]

On Windows, since version 2.6.3 (and 2.7 'stereo') the NVidia 3D Vision glasses are supported.

To use it the user needs the proper equipment (i.e. a high frequency screen) and follow the indications that appear in the dialog:
[[Image:Cc_stereo_mode_nvidia3D.jpg|center]]

CloudCompare will automatically enter in 'exclusive full screen' mode (so as to actually trigger the screen flickering and the proper activation of the stereo mode by the driver). If this mode is left the stereo mode will be automatically disabled.

The exclusive full screen mode can be leaved in various ways:
* by pressing the F11 key
* by clicking on the 'Leave fullscreen mode' icon that appears when the mouse hovers the upper-left part of the screen
* by pressing F3 (which will make CC fall back to orthographic mode)

== Oculus Rift ==

[[Image:Oculus_rift_dk2.jpg|center]]

On Windows, since version 2.7 ('stereo') the Oculus Rift headset is supported (in early 'alpha' mode).

When this mode is enabled, nothing will appear in the standard 3D view and user will need to look inside his headset. '''However to rotate the objects the mouse cursor should still be above the 3D view'''. Using a 3D mouse helps a lot.

Make sure that the entities units are expressed in meters as this is the default unit for the Oculus.

And last but not least this mode works best in 'bubble view' mode (see above).

FILE I/O

2019-02-20T11:45:45Z

UnivSilesia:

[[pl:Rodzaje wspieranych plików]]

'''Supported file formats'''

{| cellpadding="10" style="text-align:center; border-collapse: collapse; border-width: 1px; border-style: solid; border-color: #000"
!style="border-style: solid; border-width: 1px"| Type
!style="border-style: solid; border-width: 1px"| Extension(s)
!style="border-style: solid; border-width: 1px"| Description
!style="border-style: solid; border-width: 1px"| Read
!style="border-style: solid; border-width: 1px"| Write
!style="border-style: solid; border-width: 1px"| Binary/ASCII
!style="border-style: solid; border-width: 1px"| Point Cloud(s)
!style="border-style: solid; border-width: 1px"| Mesh(es)
!style="border-style: solid; border-width: 1px"| Other
!style="border-style: solid; border-width: 1px"| Features
|-
|style="border-style: solid; border-width: 1px"| [[BIN]]
|style="border-style: solid; border-width: 1px"| .bin
|style="border-style: solid; border-width: 1px"| CloudCompare own format
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| binary
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"| Normals, colors (RGB), scalar fields (>1), labels, viewports, display options, etc.
|-
|style="border-style: solid; border-width: 1px"| [[ASCII]]
|style="border-style: solid; border-width: 1px"| .asc,.txt,.xyz,.neu,.pts
|style="border-style: solid; border-width: 1px"| ASCII point cloud file (X,Y,Z,etc.)
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| ASCII
|style="border-style: solid; border-width: 1px"| 1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Normals, colors (RGB), scalar fields (all)
|-
|style="border-style: solid; border-width: 1px"| LAS
|style="border-style: solid; border-width: 1px"| .las
|style="border-style: solid; border-width: 1px"| [http://www.asprs.org/society/committees/standards/lidar_exchange_format.html ASPRS] lidar point clouds
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| binary
|style="border-style: solid; border-width: 1px"| 1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Colors (RGB) and various scalar fields (see LAS 1.4 specifications)
|-
|style="border-style: solid; border-width: 1px"| E57
|style="border-style: solid; border-width: 1px"| .e57
|style="border-style: solid; border-width: 1px"| [http://www.ri.cmu.edu/publication_view.html?pub_id=6767 ASTM E57] file format
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| mixed
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Calibrated picture(s)
|style="border-style: solid; border-width: 1px"| Normals, colors (RGB or I), scalar field (intensity)
|-
|style="border-style: solid; border-width: 1px"| PTX
|style="border-style: solid; border-width: 1px"| .ptx
|style="border-style: solid; border-width: 1px"| [http://www.leica-geosystems.com/kb/?guid=5532D590-114C-43CD-A55F-FE79E5937CB2 LEICA] point cloud export format
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| ascii
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Sensor(s)
|style="border-style: solid; border-width: 1px"| Robust normals can be computed at loading time
|-
|style="border-style: solid; border-width: 1px"| FARO
|style="border-style: solid; border-width: 1px"| .fls, *.fws
|style="border-style: solid; border-width: 1px"| [http://www.faro.com FARO] formats
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| binary
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Sensor(s)
|style="border-style: solid; border-width: 1px"| Scalar field (reflection value)
|-
|style="border-style: solid; border-width: 1px"| DP
|style="border-style: solid; border-width: 1px"| .dp
|style="border-style: solid; border-width: 1px"| [http://www.dotproduct3d.com/ DotProduct] (DPI-7) format
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| binary
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Sensor(s)
|style="border-style: solid; border-width: 1px"| Colors (RGB), robust normals can be computed at loading time
|-
|style="border-style: solid; border-width: 1px"| PCD
|style="border-style: solid; border-width: 1px"| .pcd
|style="border-style: solid; border-width: 1px"| [http://pointclouds.org/ Point Cloud Library] format
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| binary
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Colors (RGB), normals, scalar fields (>1)
|-
|style="border-style: solid; border-width: 1px"| PLY
|style="border-style: solid; border-width: 1px"| .ply
|style="border-style: solid; border-width: 1px"| [http://www.graphics.stanford.edu/data/3Dscanrep Stanford] 3D geometry format (cloud or mesh)
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| both
|style="border-style: solid; border-width: 1px"| 1
|style="border-style: solid; border-width: 1px"| 1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Normals, colors (RGB or I), one ore several scalar fields, a single texture
|-
|style="border-style: solid; border-width: 1px"| OBJ
|style="border-style: solid; border-width: 1px"| .obj
|style="border-style: solid; border-width: 1px"| [http://en.wikipedia.org/wiki/Wavefront_.obj_file Wavefront] mesh
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| ASCII
|style="border-style: solid; border-width: 1px"| 1
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"| Polyline(s)
|style="border-style: solid; border-width: 1px"| Normals, materials and textures
|-
|style="border-style: solid; border-width: 1px"| VTK
|style="border-style: solid; border-width: 1px"| .vtk
|style="border-style: solid; border-width: 1px"| [http://www.vtk.org VTK] file format (triangular mesh or cloud only)
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| ASCII
|style="border-style: solid; border-width: 1px"| 1
|style="border-style: solid; border-width: 1px"| 1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Normals, colors (RGB), scalar field(s) (>1)
|-
|style="border-style: solid; border-width: 1px"| STL
|style="border-style: solid; border-width: 1px"| .stl
|style="border-style: solid; border-width: 1px"| [http://en.wikipedia.org/wiki/STL_%28file_format%29 STereoLithography file format] (mesh)
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| ASCII
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| 1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Normals
|-
|style="border-style: solid; border-width: 1px"| OFF
|style="border-style: solid; border-width: 1px"| .off
|style="border-style: solid; border-width: 1px"| [http://www.cs.princeton.edu/courses/archive/spr08/cos426/assn2/formats.html Object File Format] (mesh)
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| ASCII
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| 1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|-
|style="border-style: solid; border-width: 1px"| FBX
|style="border-style: solid; border-width: 1px"| .fbx
|style="border-style: solid; border-width: 1px"| [http://en.wikipedia.org/wiki/FBX Autodesk (Filmbox) File Format]
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| ASCII or BINARY
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Normals, colors (RGB), materials and textures
|-
|style="border-style: solid; border-width: 1px"| DXF
|style="border-style: solid; border-width: 1px"| .dxf
|style="border-style: solid; border-width: 1px"| [http://en.wikipedia.org/wiki/AutoCAD_DXF Autocad DXF] format
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| ASCII
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"| polyline(s)
|style="border-style: solid; border-width: 1px"| Normals, colors (RGB)
|-
|style="border-style: solid; border-width: 1px"| SHP
|style="border-style: solid; border-width: 1px"| .shp
|style="border-style: solid; border-width: 1px"| [http://en.wikipedia.org/wiki/Shapefile ESRI Shape] file format
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| binary
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Polyline(s), polygon(s), contour plot(s), etc.
|style="border-style: solid; border-width: 1px"| Scalar fields (1 per entity)
|-
|style="border-style: solid; border-width: 1px"| PDMS
|style="border-style: solid; border-width: 1px"| .pdms, .pdmsmac, .mac
|style="border-style: solid; border-width: 1px"| PDMS macros
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| ASCII
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"| Primitive(s)
|style="border-style: solid; border-width: 1px"|
|-
|style="border-style: solid; border-width: 1px"| RASTER
|style="border-style: solid; border-width: 1px"| .geotiff, etc.
|style="border-style: solid; border-width: 1px"| Common raster formats ([http://en.wikipedia.org/wiki/GDAL GDAL])
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X (use the [[Rasterize]] tool)
|style="border-style: solid; border-width: 1px"| binary
|style="border-style: solid; border-width: 1px"| 1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Layers (as scalar fields)
|-
|style="border-style: solid; border-width: 1px"| [[AirPhotoSE | OUT (Bundler)]]
|style="border-style: solid; border-width: 1px"| .out
|style="border-style: solid; border-width: 1px"| [http://phototour.cs.washington.edu/bundler Bundler] SfM output file (more information [[AirPhotoSE | here]])
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| ASCII
|style="border-style: solid; border-width: 1px"| (1)
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Calibrated picture(s), 3D keypoints
|style="border-style: solid; border-width: 1px"|
|-
|style="border-style: solid; border-width: 1px"| 2D images
|style="border-style: solid; border-width: 1px"| .jpg, *.png, *.bmp, etc.
|style="border-style: solid; border-width: 1px"| Standard images
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| binary
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|-
|style="border-style: solid; border-width: 1px"| [[PV]]
|style="border-style: solid; border-width: 1px"| .pv
|style="border-style: solid; border-width: 1px"| Point cloud + scalar field
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| binary
|style="border-style: solid; border-width: 1px"| 1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Scalar field (1)
|-
|style="border-style: solid; border-width: 1px"| [[PN]]
|style="border-style: solid; border-width: 1px"| .pn
|style="border-style: solid; border-width: 1px"| Point cloud + normals
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| binary
|style="border-style: solid; border-width: 1px"| 1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Normals
|-
|style="border-style: solid; border-width: 1px"| SOI
|style="border-style: solid; border-width: 1px"| .soi
|style="border-style: solid; border-width: 1px"| Mensi/Trimble Soisic laser scanner
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| ASCII
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Colors (I)
|-
|style="border-style: solid; border-width: 1px"| [[POV]]
|style="border-style: solid; border-width: 1px"| .pov
|style="border-style: solid; border-width: 1px"| Multiple stations (meta file)
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| ASCII + both
|style="border-style: solid; border-width: 1px"| >1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| All + sensor poses
|-
|style="border-style: solid; border-width: 1px"| [[ICM]]
|style="border-style: solid; border-width: 1px"| .icm
|style="border-style: solid; border-width: 1px"| Cloud + calibrated pictures
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| ASCII + both
|style="border-style: solid; border-width: 1px"| 1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Picture(s)
|style="border-style: solid; border-width: 1px"| All + camera poses
|-
|style="border-style: solid; border-width: 1px"| Geo-Mascaret
|style="border-style: solid; border-width: 1px"| .georef
|style="border-style: solid; border-width: 1px"| [http://chercheurs.edf.com/logiciels/code-mascaret-41197.html Mascaret] profiles
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| ASCII
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Profiles (polylines)
|style="border-style: solid; border-width: 1px"|
|-
|style="border-style: solid; border-width: 1px"| Sinusx
|style="border-style: solid; border-width: 1px"| .sx
|style="border-style: solid; border-width: 1px"| Sinusx curves
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"| ASCII
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| Polylines
|style="border-style: solid; border-width: 1px"|
|-
|style="border-style: solid; border-width: 1px"| CSV matrix
|style="border-style: solid; border-width: 1px"| .csv
|style="border-style: solid; border-width: 1px"| Cloud as 2D1/2 matrix
|style="border-style: solid; border-width: 1px"| X
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"| ASCII
|style="border-style: solid; border-width: 1px"| 1
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|style="border-style: solid; border-width: 1px"|
|}

'''Dialogs'''

[[File_open/save_dialogs | Standard dialog]]

[[ASCII file open dialog | ASCII dialog]]

[[PLY file open dialog | PLY dialog]]

Entity properties

2019-02-20T11:43:06Z

UnivSilesia:

[[pl:Właściwości obiektów]]

When a single entity is selected, its properties are accessible in the ‘Properties’ dialog (on the left side below the DB tree by default).

[[Image:Cc_entity_properties.jpg|frame|center|Entity properties (a sphere here)]]

Most of the entities display properties can be set via this dialog:
* visibility of the entity
* visibility of its features (colors, normals, etc.)
* the current 3D view in which the entity is displayed (‘Current Display’ list)
* the active scalar field and its display parameters (current color scale, whether it should be displayed in the 3D view and how, etc.)
* etc.

Other parameters can be modified such as
* ‘wireframe’ or ‘stippling’ – a kind of fake transparency – modes for a mesh for instance
* primitives parameters
* etc.

And of course various pieces of information:
* bounding-box center and extents
* the number of points or triangles
* the ‘Global shift and scale’
* associated meta-data
* etc.

There are even some action buttons sometimes (for viewport or sensor entities for instance).

= Scalar field display parameters editor =

In the Properties dialog, an editor very specific to CloudCompare can be found on clouds and entities with an active scalar field:

[[Image:Cc_new_sf_display_params_editor.jpg|frame|center|Scalar field parameters editor]]

This editor lets the user set most of the display parameters of the active scalar field in a very concise way (in addition to get a quick overview of the scalar field histogram):
* use the left and right white circles to set the min and max displayed scalar values. Below and above those values, the points will either appear in grey or won’t appear at all (depending on the parameter ‘''show NaN/out of range values in grey''’ that is accessible in the ‘Parameters’ tab). This way the user can quickly hide points with values outside a given interval, in order to focus on the other points for instance.
* use the red and blue down arrows to set the min and max saturation values (to set the start and end of ‘relative’ color scales – see the [[Scalar fields\Color Scales Manager | Color Scales Manager]])
* set additional parameters with the ‘Parameters’ tab (log or symmetrical scale, etc.)

= Point size and line width =

Point size (for clouds) and line width (for polylines) can be set for each entity via the dedicated parameter in the entity properties.

However, one can set the default point size and default line width per 3D view. This can be done via 'interactors' that appear when the mouse hovers the top-left corner of the 3D view:
[[File:Cc_point_line_interactors.jpg|center]]

Since version 2.9, default point size and line width can range from 1 to 16 pixels (''only the default point size could be set in previous versions, with a maximum size of 10 pixels'').

DB tree

2019-02-20T11:42:16Z

UnivSilesia:

[[pl:Drzewo Projektu]]

Loaded entities are all stored in the ‘DB tree’ (on the left part by default). Some entities can depend on other ones (such as a mesh and its vertices) or can also be regrouped (in Group entities [[Image:DbHObjectSymbol.png]]). This is why the database is displayed as a hierarchical tree.

[[Image:Cc_db_tree.jpg|center]]

= Drag and drop =

Most of the entities can be drag and dropped In the DB tree (so as to regroup them typically). Entities dependent on others are generally bound to their ‘parent’ however (labels, vertices, etc.).

= Selection =

Entities can be selected either directly in a 3D view (by left clicking on it) or by clicking on their corresponding entry in the DB tree (which is generally faster and unambiguous).

Multiple entities can be selected at once by maintaining the CTRL or SHIFT keys pressed and selecting them in the DB tree.

Equivalently the user can select multiple entities by holding the CTRL key and clicking on entities in the 3D views. Another option is to hold the ALT key and drawing a rectangle in a 3D view. This way, all the entities falling at least partly inside the rectangle will be selected:
[[Image:Cc_multiple_selection.jpg|frame|center|Selection inside a rectangle (hold the ALT key while drawing the rectangle with the left mouse button pressed)]]

= Context menu =

A context menu can be spawned by clicking on an element of the DB tree with the right mouse button. Its content depends on the type of the element.

[[Image:Cc_context_menu.jpg|frame|center|Context menu (for a cloud)]]

The most notable elements are:
* On all entities:
** ''Information (recursive)'': displays information on the the selected entity and all its siblings (in a recursive manner). Typically the total number of points, triangles, normals, etc.
** ''Toggle (visibility, color, etc.)'': to toggle a given property of the selected entities
** ''Delete'': to delete the selected entities
** ''Add empty group'': to add an empty group as a child of the selected entity (can also be called on the DB tree background area to create a group at the tree root)
** ''Expand/Collapse branch''
** ''Sort siblings (by names (A-Z) or (Z-A) or by type)'': to sort the siblings (if the entity has more than one child)
* Only on sensors:
** ''Bubble-view'': to activate ‘Bubble-view (polar)’ mode
* Only on planar entities (i.e. ‘3-points’ labels , planes and facets):
** ''Align camera (inverse or not)'': to make the camera of the current 3D view face this planar element (one side or another). The corresponding transformation is also output in the Console.

== Select children by type and/or name ==

Since version 2.6.2, a new option of the context menu is available: 'Select children by type and/or name'.

This option lets the user select the children of the highlighted entity based on their type, or their name or both:
[[Image:Cc_select_by_type_or_name_dialog.jpg|center]]

Entities

2019-02-20T11:41:22Z

UnivSilesia:

[[pl:Obiekty]]

= Main entities =

== [[Image:CloudSymbol.png‎]] Point cloud ==
A point cloud is a set of unorganized 3D points (X,Y,Z).

It can be associated to:
* a unique color for the whole entity (RGB)
* per-point colors (RGB)
* per-point normal vectors (Nx,Ny,Nz)
* per-point scalar values (a ''scalar field'') - multiple scalar fields can be associated to the same cloud

Note: since version 2.6.2, point clouds coming from structured/gridded files (such as PTX, DP or FARO) are now associated to a simple grid structure. This structure will mainly be used to export the cloud in a structured format, but it can also be used when computing normals for instance.

== [[Image:MeshSymbol.png]] Mesh ==

A mesh is a set of triangles. Internally, triangles are represented by triplets of integer indexes. Those indexes are relative to an associated cloud (the mesh ''vertices''). Therefore a mesh 'inherits' of all the features associated to a point cloud (see above).

In addition a mesh can be associated to:
* per-triangle normal vectors (Nx,Ny,Nz)
* per-triangle materials
* per-triangle texture coordinates
* textures

A standard mesh generally corresponds to a single object. Its vertices are stored as a point cloud (which is generally a child of the mesh object in the DB tree).

[[Image:QCC_meshDB.jpg|border]]

=== [[Image:MeshGroupSymbol.png]] Sub-meshes ===

When importing a mesh with multiple parts (''from OBJ or FBX files for instance'') or when merging multiple meshes, CloudCompare can create 'sub-meshes'. They are subsets of a main mesh (and can therefore only be child of this parent mesh). They all share the same set of vertices and the same features.

[[Image:Cc_sub_meshes_db.jpg|border]]

=== [[Image:DbMiscGeomSymbol.png]] Primitives ===

Primitives are a special kind of meshes. They can be created with the '[[Primitive Factory]]', or with the 'Tools > Fit' methods (or also imported from CAD formats - e.g. PDMS macros).

Primitives are described by simple parameters (radius, height, etc.). However they are associated to a ''tessellated'' representation (i.e. a proper triangular mesh). This way they can be used as standard meshes (for distance calculation, etc.).

Note: for some primitives (spheres, cylinders, etc.) the user can change the 'drawing precision' (i.e. the amount of tessellated triangles).

[[Image:Cc_primitives_db.jpg|border]]

== [[Image:DbPolylineSymbol.png]] Polyline ==

A polyline is a set of points connected by contiguous segments. The polyline can be closed (i.e. a loop) or not. By default a polyline is a 3D object. But they can also be 2D entities (in which case they will be displayed as a 2D overlay object and their coordinates are always in pixels).

Internally a polyline is a set of indexes. Those indexes are relative to an associated point cloud (the polyline ''vertices''). Its vertices are stored as a point cloud (which is generally a child of the mesh object in the DB tree).

For now polylines don't inherit the features of their associated cloud (color, normals, etc.). However they can be associated to a single color (RGB).

[[Image:Cc_polyline_db.jpg|border]]

= Point cloud associated structures =

== [[Image:OctreeSymbol.png]] Octree ==

The octree structure is a very important structure in CloudCompare. It is used by most of the processing algorithms (distance computation, spatial operators, etc.).

For general information about octree structures refer to [http://en.wikipedia.org/wiki/Octree http://en.wikipedia.org/wiki/Octree].

For more information about the practical implementation of the octree structure in CloudCompare, see the [[CloudCompare octree]] section.

== Sensors ==

There are currently two kind of sensors in CloudCompare.

=== [[Image:SensorSymbol.png]] Ground Based Laser Sensor ===

Point clouds acquired thanks to a ''Ground Based Laser'' scanner (also called a ''Terrestrial Laser Scanner'') can be associated to a sensor entity. This is a structure containing information about the sensor (intrinsic and extrinsic parameters, position and orientation relatively to the cloud, etc.). It can be used to localize the sensor position in the 3D scene, to display the cloud in polar coordinates ('[[Display modes | bubble-view]]' display mode), or to compute scattering angles, etc.

Proprietary formats typically contain this kind of information (PTX, FARO, DP, etc.). They are automatically created (as children of the loaded cloud(s)) when loaded from such files.

Otherwise sensors can be 'manually' created:
* with the '[[Sensors\Ground Based Lidar\Create]]' method
* via a [[POV]] meta-file

[[Image:Cc_gbl_sensor_db.jpg|border]]

=== [[Image:DbCamSensorSymbol.png]] Projective Camera Sensor ===

Point clouds or pictures acquired thanks to a camera can be associated to a sensor entity. This is a structure containing information about the sensor (intrinsic and extrinsic parameters, position and orientation relatively to the cloud, etc.). It can be used to localize the sensor position in the 3D scene, display the cloud as if it was viewed by the camera (see the 'Apply' button in the sensor properties), filter the points actually viewed by this camera, etc.

Camera sensors are automatically created when loading calibrated pictures from a Bundler .OUT file for instance (or from some E57 files as well).

They can also be 'manually' created with the '[[Sensors\Camera Sensor\Create]]' method.

[[Image:Cc_camera_sensor_db.jpg|border]]

P.S.: see also the [[Entities#calibrated pictures | Calibrated Picture]] entity below

== [[Image:DbLabelSymbol.png]] Label ==

Clouds can be associated to ''Labels''. See the [[Point_Picking#Labels | Point picking > Labels]] section for more information.

[[Image:Cc_labels_db.jpg|border]]

= Other entities =

== [[Image:DbHObjectSymbol.png]] Group ==

A simple group of other entities (can be used to classify or regroup entities). Groups can be created by right-clicking on the DB tree – see [[DB_tree#Context menu | Context menu]]).

== [[Image:DbImageSymbol.png]] Image ==

Images can be loaded from standard image file formats (jpg, bmp, png, etc.) via the standard 'File > [[Open]]' mechanism.

They can only be displayed in the 3D view as a 2D overlay (matching the 3D view extents). The user can change their transparency so as to visualize the 3D scene behind.

== [[Image:DbImageSymbol.png]][[Image:DbCamSensorSymbol.png]] Calibrated picture ==

Calibrated pictures are standard images that are associated to a 'Camera' sensor. Therefore it is possible to set the camera parameters and position of the current 3D view to match the sensor parameters. This way the (calibrated) picture can be displayed above the 3D scene (with a customizable transparency).

[[File:qCC_CalibratedPictureExample.jpg|center]]

Calibrated pictures can be loaded from Bundler .OUT files or from E57 files. They can also be loaded thanks to [[ICM]] meta-files.

== [[Image:DbViewportSymbol.png]] Viewport ==

The current 3D view 'viewport' can be saved anytime with the 'Display > [[Display\Save viewport as object | Save viewport as object]]' method.

The corresponding viewport can be restored later thanks to this entity.

[[Image:Cc_viewport_db.jpg|border]]

Note: this entity can only be saved in BIN files.

== [[Image:SmallRectangleSelect.png]] 2D area label ==

A special kind of label named '2D area label' can be created with the [[Point_Picking#Labels | Point picking]] tool.

It has many common features with the 'Viewport' entity. And as this entity, it can only be saved in BIN files.

[[Image:Cc_area_label_db.jpg|border]]

Entities

2019-02-20T11:41:03Z

UnivSilesia:

[[en:Obiekty]]

= Main entities =

== [[Image:CloudSymbol.png‎]] Point cloud ==
A point cloud is a set of unorganized 3D points (X,Y,Z).

It can be associated to:
* a unique color for the whole entity (RGB)
* per-point colors (RGB)
* per-point normal vectors (Nx,Ny,Nz)
* per-point scalar values (a ''scalar field'') - multiple scalar fields can be associated to the same cloud

Note: since version 2.6.2, point clouds coming from structured/gridded files (such as PTX, DP or FARO) are now associated to a simple grid structure. This structure will mainly be used to export the cloud in a structured format, but it can also be used when computing normals for instance.

== [[Image:MeshSymbol.png]] Mesh ==

A mesh is a set of triangles. Internally, triangles are represented by triplets of integer indexes. Those indexes are relative to an associated cloud (the mesh ''vertices''). Therefore a mesh 'inherits' of all the features associated to a point cloud (see above).

In addition a mesh can be associated to:
* per-triangle normal vectors (Nx,Ny,Nz)
* per-triangle materials
* per-triangle texture coordinates
* textures

A standard mesh generally corresponds to a single object. Its vertices are stored as a point cloud (which is generally a child of the mesh object in the DB tree).

[[Image:QCC_meshDB.jpg|border]]

=== [[Image:MeshGroupSymbol.png]] Sub-meshes ===

When importing a mesh with multiple parts (''from OBJ or FBX files for instance'') or when merging multiple meshes, CloudCompare can create 'sub-meshes'. They are subsets of a main mesh (and can therefore only be child of this parent mesh). They all share the same set of vertices and the same features.

[[Image:Cc_sub_meshes_db.jpg|border]]

=== [[Image:DbMiscGeomSymbol.png]] Primitives ===

Primitives are a special kind of meshes. They can be created with the '[[Primitive Factory]]', or with the 'Tools > Fit' methods (or also imported from CAD formats - e.g. PDMS macros).

Primitives are described by simple parameters (radius, height, etc.). However they are associated to a ''tessellated'' representation (i.e. a proper triangular mesh). This way they can be used as standard meshes (for distance calculation, etc.).

Note: for some primitives (spheres, cylinders, etc.) the user can change the 'drawing precision' (i.e. the amount of tessellated triangles).

[[Image:Cc_primitives_db.jpg|border]]

== [[Image:DbPolylineSymbol.png]] Polyline ==

A polyline is a set of points connected by contiguous segments. The polyline can be closed (i.e. a loop) or not. By default a polyline is a 3D object. But they can also be 2D entities (in which case they will be displayed as a 2D overlay object and their coordinates are always in pixels).

Internally a polyline is a set of indexes. Those indexes are relative to an associated point cloud (the polyline ''vertices''). Its vertices are stored as a point cloud (which is generally a child of the mesh object in the DB tree).

For now polylines don't inherit the features of their associated cloud (color, normals, etc.). However they can be associated to a single color (RGB).

[[Image:Cc_polyline_db.jpg|border]]

= Point cloud associated structures =

== [[Image:OctreeSymbol.png]] Octree ==

The octree structure is a very important structure in CloudCompare. It is used by most of the processing algorithms (distance computation, spatial operators, etc.).

For general information about octree structures refer to [http://en.wikipedia.org/wiki/Octree http://en.wikipedia.org/wiki/Octree].

For more information about the practical implementation of the octree structure in CloudCompare, see the [[CloudCompare octree]] section.

== Sensors ==

There are currently two kind of sensors in CloudCompare.

=== [[Image:SensorSymbol.png]] Ground Based Laser Sensor ===

Point clouds acquired thanks to a ''Ground Based Laser'' scanner (also called a ''Terrestrial Laser Scanner'') can be associated to a sensor entity. This is a structure containing information about the sensor (intrinsic and extrinsic parameters, position and orientation relatively to the cloud, etc.). It can be used to localize the sensor position in the 3D scene, to display the cloud in polar coordinates ('[[Display modes | bubble-view]]' display mode), or to compute scattering angles, etc.

Proprietary formats typically contain this kind of information (PTX, FARO, DP, etc.). They are automatically created (as children of the loaded cloud(s)) when loaded from such files.

Otherwise sensors can be 'manually' created:
* with the '[[Sensors\Ground Based Lidar\Create]]' method
* via a [[POV]] meta-file

[[Image:Cc_gbl_sensor_db.jpg|border]]

=== [[Image:DbCamSensorSymbol.png]] Projective Camera Sensor ===

Point clouds or pictures acquired thanks to a camera can be associated to a sensor entity. This is a structure containing information about the sensor (intrinsic and extrinsic parameters, position and orientation relatively to the cloud, etc.). It can be used to localize the sensor position in the 3D scene, display the cloud as if it was viewed by the camera (see the 'Apply' button in the sensor properties), filter the points actually viewed by this camera, etc.

Camera sensors are automatically created when loading calibrated pictures from a Bundler .OUT file for instance (or from some E57 files as well).

They can also be 'manually' created with the '[[Sensors\Camera Sensor\Create]]' method.

[[Image:Cc_camera_sensor_db.jpg|border]]

P.S.: see also the [[Entities#calibrated pictures | Calibrated Picture]] entity below

== [[Image:DbLabelSymbol.png]] Label ==

Clouds can be associated to ''Labels''. See the [[Point_Picking#Labels | Point picking > Labels]] section for more information.

[[Image:Cc_labels_db.jpg|border]]

= Other entities =

== [[Image:DbHObjectSymbol.png]] Group ==

A simple group of other entities (can be used to classify or regroup entities). Groups can be created by right-clicking on the DB tree – see [[DB_tree#Context menu | Context menu]]).

== [[Image:DbImageSymbol.png]] Image ==

Images can be loaded from standard image file formats (jpg, bmp, png, etc.) via the standard 'File > [[Open]]' mechanism.

They can only be displayed in the 3D view as a 2D overlay (matching the 3D view extents). The user can change their transparency so as to visualize the 3D scene behind.

== [[Image:DbImageSymbol.png]][[Image:DbCamSensorSymbol.png]] Calibrated picture ==

Calibrated pictures are standard images that are associated to a 'Camera' sensor. Therefore it is possible to set the camera parameters and position of the current 3D view to match the sensor parameters. This way the (calibrated) picture can be displayed above the 3D scene (with a customizable transparency).

[[File:qCC_CalibratedPictureExample.jpg|center]]

Calibrated pictures can be loaded from Bundler .OUT files or from E57 files. They can also be loaded thanks to [[ICM]] meta-files.

== [[Image:DbViewportSymbol.png]] Viewport ==

The current 3D view 'viewport' can be saved anytime with the 'Display > [[Display\Save viewport as object | Save viewport as object]]' method.

The corresponding viewport can be restored later thanks to this entity.

[[Image:Cc_viewport_db.jpg|border]]

Note: this entity can only be saved in BIN files.

== [[Image:SmallRectangleSelect.png]] 2D area label ==

A special kind of label named '2D area label' can be created with the [[Point_Picking#Labels | Point picking]] tool.

It has many common features with the 'Viewport' entity. And as this entity, it can only be saved in BIN files.

[[Image:Cc_area_label_db.jpg|border]]

Graphical User Interface

2019-02-20T11:39:59Z

UnivSilesia:

[[pl:Interfejs użytkownika]]

Here is a quick overview of the main user interface:
[[Image:QCC_MainWindow.jpg|center]]
 
# [[Methods | Menus]]
#* File (open, save, quit, etc.)
#* Edit (edit selected entities and their features - colors, normals, scalar fields, etc.)
#* Tools (segmentation, registration, projection, etc.)
#* Display (display-related options)
#* Plugins (loaded plugins)
#* 3D Views (3D views management)
#* Help (about, help, etc.)
# [[Icons | Main toolbar]] (quick access to main editing and processing tools: open/save, point picking, clone, etc.)
# [[Icons | Scalar fields toolbar]] (quick access to scalar fields related tools)
# [[Icons | Plugins toolbar]] (quick access to currently loaded plugins - ''standard'' and ''OpenGL shaders'')
# [[Icons | View toolbar]] (quick access to display-related tools)
# Database tree (for selection and activation of entities and their features)
# Properties view (information on selected entity)
# Default 3D view
# Another 3D view (created with ''3D Views > New'')
# [[Console]]

Introduction

2016-11-17T22:16:39Z

UnivSilesia:

[[pl:Wstęp]]

= History =

CloudCompare is a 3D point cloud (and triangular mesh) editing and processing software.

Originally, it has been designed to perform direct comparison between dense 3D point clouds. It relies on a specific [[Octree | octree]] structure that enables great performances1 when performing this kind of task. Moreover, as most point clouds were acquired by terrestrial [http://en.wikipedia.org/wiki/Laser_scanning laser scanners], CloudCompare was meant to deal with huge point clouds on a standard laptop - typically more than 10 million points (in 2005!). Soon after, comparison between a point cloud and a triangular mesh has been supported (see below). Afterwards, many other point cloud processing algorithms have followed (registration, resampling, color/normal vectors/scalar fields management, statistics computation, sensor management, interactive or automatic segmentation, etc.) as well as display enhancement tools (custom color ramps, color & normal vectors handling, calibrated pictures handling, OpenGL shaders, plugins, etc.).

{| border="0" cellspacing="0" cellpadding="5" align="center"
! [[Image:Comp_cloud_mesh.jpg|center]]
|-
| (1) ''for instance it took about 10 s. to compute the distances of 3 million points to a 14.000 triangles mesh on a laptop with dual-core processor''
|}

= Philosophy =

== Point cloud Vs Mesh ==

Regarding its particular history, CloudCompare considers almost all 3D entities as [[Entities | point clouds]]. Typically, a triangular mesh is only a point cloud (the mesh vertices) with an associated topology (triplets of 'connected' points corresponding to each triangle). This explains that meshes have always either a point cloud named 'vertices' as sibling or parent (depending on the way they have been loaded or generated). And while CloudCompare will let the user apply some tools directly on a mesh structure (i.e. triangles), some tools can only be applied to the mesh vertices. It may be a bit disturbing at first, but we don't want the user to ignore this: '''CloudCompare is mainly a point cloud processing software'''.

Of course, as CloudCompare is meant to do change detection (e.g. subsidence monitoring) and as a triangular mesh is a very common way to represent a reference shape (e.g. a building), it is very useful and it couldn't be ignored. Nevertheless it remains a "secondary" entity, especially as CloudCompare is able to compare two point clouds directly, without the need to generate an intermediary mesh.

The main reasons for this are:
* meshes are generally very hard to generate properly on real-life scenes, especially when scanned with a laser scanner (noise, variable density, etc.)
* and as ALS/TLS point clouds are generally very dense (and accurate), we already have all the information we need

== Scalar fields ==

Among all 'features' that can be associated to a point cloud (colors, normals, etc.) one has a particular place in CloudCompare: the ''[[Entities | scalar field]]''.

A scalar field is simply a set of values (one per point - e.g. the distance of each point to another entity). As each value is associated to a point (or vertex) it is possible to display those values as colors (with custom color ramps) or to apply filters on them (smooth, gradient, etc.), some basic math operations (exp, log, power of 2 or 3, cos, sin, tan, etc.) and of course to segment the cloud relatively to those values (thresholding, local statistical filtering, etc.).

CloudCompare can handle multiple scalar fields on the same cloud. It is even possible to apply simple arithmetic operations (-,+,/,*) between two scalar fields of a same cloud.

= Some technical considerations =

== Portable ==

CloudCompare is developed in C++. It is currently compiled on Windows, Linux and Mac OS (thanks to [http://www.cmake.org/ C-make]) and for 32bits and 64bits architectures.

== Trade-off between storage and speed ==

Here are some details about the technical choices that have been made in CloudCompare (mainly to achieve the goal of loading as much points as possible without downgrading too much performances - i.e. a good trade-off between storage and speed):
* all stored values and most of computations are done with [http://en.wikipedia.org/wiki/Single-precision_floating-point_format 32bits floating-point values]
* to prevent any limitation on the size of arrays (as it's hard to get a big contiguous block of memory on Windows 32 bits), we use a custom container that automatically chunks datasets in small blocks (64 Kb per block).
* normal vectors (if any) are compressed on 16 bits (15 bits actually, because of the way [http://en.wikipedia.org/wiki/Quantization quantization] works)
* the specific [[octree]] structure used in CloudCompare requires constant per-point memory (i.e. 8 bytes per point on a 32 bits OS - with a maximum depth of 10 - and 12 bytes on a 64 bits OS - with a maximum depth of 21!). It is based on a particular quantization of the 3D point coordinates - a kind of [http://en.wikipedia.org/wiki/Z-order_curve Morton] ordering scheme - where each point position in the octree grid and at any level is represented by a single integer code. We then process those codes to achieve very efficient nearest-neighbors querying operations. However, while this octree structure is very efficient for computing distances for instance, it's not suitable for fast display (Level Of Detail, etc.).

The result of the above choices is that CloudCompare can store about 90 million blank points per gigabyte of memory. If you add RGB colors, normal vectors, a single scalar field and if you need to compute the octree, you can load up to 32 million points per gigabyte.

On a 64 bits OS you can load as many points as you want (''well, up to 4 billion in fact''). ''However, depending on your graphic card capabilities, display and interactivity may be severely downgraded with this many points'' ;). With a high-end graphic card you can keep a reasonable frame rate with up to 150 million points.

= Recent evolution =

While the project has started in 2004 at [http://research.edf.com/research-and-innovation-44204.html EDF R&D], it has only been released in the public domain around 2009 (under GPL license). As CloudCompare is on open-source project, everyone is free (and welcome) to extend its capabilities. Don't hesitate to ask questions and share your experiences on the [http://www.cloudcompare.org/forum forum] and to take a look at the [https://github.com/cloudcompare/trunk Github] source repository.