CAD-Model-PointCloud

.mat files of Point cloud of CAD models

Conversion to PointCloud

To convert CAD models into PointCloud, we use FreeCAD.

• For files in ".off", ".stl" formats whose objects are meshes, first convert to solid objects.
• For files in ".step" format whose objects are solid shape, skip step #1.

1. Create Shape from Mesh
   • Go to tab "View", select "Part" under "Workbench", a new tab called "Part" will show up
   • Select the mesh object
   • Go to tab "Part", select "Create shape from mesh" to obtain a solid version of the object
2. Convert Shape to Points
   • Go to tab "View", select "Points" under "Workbench", a new tab called "Points" will show up
   • Select the shape object
   • Go to tab "Points", select "Convert to points" to obtain a point cloud version of the object
3. Save the point cloud as .pcd files
   • A MATLAB script "pcd2mat.m" is provided to convert the .pcd files into .mat format.
   • Notes: Transformations and/or scaling may be needed, depending on the original CAD models.

Sources:

1. Hawkeye https://github.com/JaydenG1019/HawkEye-Data-Code

• Cars (first 10 only, the rest can be found at repository above) | Orignally in .mat |

2. Priceton ModelNet https://modelnet.cs.princeton.edu/

• Chairs
• Desks
• Dressers/Cabinets

• .off format

3. GrabCAD Community https://grabcad.com/library

• Robot Arms
• Dressers/Cabinets

• .step or .stl formats