Initial commit

.clang-format

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+AccessModifierOffset: -4
+AlignAfterOpenBracket: DontAlign
+AllowShortBlocksOnASingleLine: true
+AllowShortFunctionsOnASingleLine: All
+BasedOnStyle: LLVM
+BraceWrapping:
+  AfterClass: false
+  AfterControlStatement: false
+  AfterEnum: false
+  AfterFunction: false
+  AfterNamespace: false
+  AfterStruct: false
+  AfterUnion: false
+  BeforeCatch: true
+  BeforeElse: true
+  IndentBraces: false
+  SplitEmptyFunction: true
+  SplitEmptyRecord: true
+BreakBeforeBraces: Custom
+ColumnLimit: 0
+Cpp11BracedListStyle: false
+FixNamespaceComments: false
+IndentCaseLabels: false
+IndentPPDirectives: None
+IndentWidth: 4
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: All
+PointerAlignment: Right
+SortIncludes: false
+SortUsingDeclarations: false
+SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+TabWidth: 4
+UseTab: true

.gitignore

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+# Build directories and CMake generated files
+build/
+CMakeFiles/
+CMakeCache.txt
+cmake_install.cmake
+Makefile
+install_manifest.txt
+
+# Compiled Object files
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Compiled Static libraries
+*.a
+*.lib
+
+# Executables
+image2pcd
+*.exe
+*.out
+*.app
+
+# Compiler-specific files
+*.d
+*.dep
+
+# Editor and IDE files
+.vscode/
+.vs/
+*.swp
+*.swo
+*~
+.DS_Store
+Thumbs.db
+
+# Temporary files
+*.tmp
+*.temp
+*.log
+
+# Python cache files (for tools/)
+__pycache__/
+*.pyc
+*.pyo
+*.pyd
+.Python
+*.egg-info/
+.pytest_cache/
+
+# Keep input and output data files
+!test_data/
+!test_data/**/*.jpg
+!test_data/**/*.png
+!test_data/**/*.pcd
+!test_data/**/*.txt
+!test_data/**/*.csv
+!test_data/**/*.dlt
+
+# Keep configuration files
+!config/
+!config/**
+
+# Keep web visualization files
+!web_visualization/
+!web_visualization/**
+
+# Keep tools and scripts
+!tools/
+!tools/**
+!scripts/
+!scripts/**
+
+# Keep source files
+!src/
+!src/**
+
+# Backup files
+*.bak
+*.backup
+*.old
+
+# OS specific files
+.DS_Store
+.DS_Store?
+._*
+.Spotlight-V100
+.Trashes
+ehthumbs.db
+Thumbs.db

CMakeLists.txt

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+# CMake minimum version requirement
+cmake_minimum_required(VERSION 3.16)
+
+# Project declaration
+project(image2pcd)
+
+# Set C++ standard
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Set build type to Release if not specified
+if(NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE Release)
+endif()
+
+# Compiler flags
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -fopenmp")
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
+
+# Find required packages using pkg-config to avoid VTK dependency issues
+find_package(PkgConfig REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(yaml-cpp REQUIRED)
+
+# Use pkg-config for PCL to avoid VTK dependencies
+pkg_check_modules(PCL REQUIRED pcl_common-1.12 pcl_io-1.12 pcl_filters-1.12 pcl_registration-1.12 pcl_segmentation-1.12 pcl_sample_consensus-1.12 pcl_search-1.12 pcl_kdtree-1.12 pcl_features-1.12 pcl_visualization-1.12)
+
+# Print found package information
+message(STATUS "OpenCV version: ${OpenCV_VERSION}")
+message(STATUS "PCL found via pkg-config")
+message(STATUS "Eigen3 version: ${Eigen3_VERSION}")
+
+# Include directories
+include_directories(
+  ${PCL_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIR}
+  /usr/include/vtk
+  ${CMAKE_CURRENT_SOURCE_DIR}/include
+)
+
+# Add PCL definitions
+add_definitions(${PCL_CFLAGS_OTHER})
+
+# Source files
+aux_source_directory(${CMAKE_CURRENT_SOURCE_DIR}/src SRC_LIST)
+
+# Set output directory
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
+
+# Create executable
+add_executable(${PROJECT_NAME} ${SRC_LIST})
+
+# Link libraries
+target_link_libraries(${PROJECT_NAME}
+  ${OpenCV_LIBS}
+  ${PCL_LIBRARIES}
+  yaml-cpp
+  pthread
+  # VTK libraries needed for PCL visualization
+  vtksys
+  vtkCommonCore
+  vtkCommonDataModel
+  vtkCommonExecutionModel
+  vtkCommonMath
+  vtkCommonTransforms
+  vtkRenderingCore
+  vtkRenderingOpenGL2
+  vtkRenderingLOD
+  vtkRenderingFreeType
+  vtkInteractionStyle
+  vtkInteractionWidgets
+  vtkFiltersCore
+  vtkFiltersSources
+  vtkFiltersExtraction
+  vtkFiltersGeometry
+  vtkIOCore
+  vtkIOGeometry
+  vtkIOLegacy
+)

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2025 Xi Xu
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

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+# Image2PCD: Semantic Image to Point Cloud Converter
+
+[![C++](https://img.shields.io/badge/C++-14-blue.svg)](https://en.cppreference.com/w/cpp/14)
+[![CMake](https://img.shields.io/badge/CMake-3.16+-green.svg)](https://cmake.org/)
+[![PCL](https://img.shields.io/badge/PCL-1.12-orange.svg)](https://pointclouds.org/)
+[![OpenCV](https://img.shields.io/badge/OpenCV-4.x-red.svg)](https://opencv.org/)
+[![License](https://img.shields.io/badge/License-MIT-yellow.svg)](LICENSE)
+
+A high-performance tool for converting semantic segmentation images to 3D point cloud data, specifically designed for autonomous driving mapping and localization applications. The system processes camera images with vehicle pose data to generate accurate 3D point clouds with real-time visualization capabilities.
+
+## 🚀 Features
+
+### Core Functionality
+
+- **Semantic Image Processing**: Convert 2D semantic segmentation images to 3D point clouds
+- **Vehicle Pose Integration**: Incorporate real-time vehicle trajectory and orientation data
+- **Multi-layer Height Support**: Handle different elevation levels for complex environments
+- **Point Cloud Clustering**: Advanced clustering and filtering algorithms for data optimization
+- **Real-time Visualization**: Interactive 3D visualization with PCL viewer
+
+### Output Formats
+
+- **PCD Files**: Point Cloud Data format for 3D processing
+- **TXT Files**: Human-readable point cloud coordinates
+- **Web Visualization**: Interactive HTML-based 3D viewer with Plotly
+- **Trajectory Visualization**: Vehicle path and pose visualization
+
+### Advanced Features
+
+- **Data Classification**: 13-class semantic labeling system
+- **Coordinate Transformation**: Multiple coordinate system support
+- **Voxel Grid Filtering**: Configurable resolution for point cloud optimization
+- **Line Fitting**: RANSAC-based line detection and fitting
+- **Multi-threaded Processing**: Optimized performance with OpenMP
+
+## 📋 Prerequisites
+
+### System Requirements
+
+- **OS**: Ubuntu 18.04+ / Debian 10+ (Linux recommended)
+- **Compiler**: GCC 7.0+ with C++14 support
+- **Memory**: 4GB+ RAM recommended
+- **Display**: X11 support for GUI visualization
+
+### Core Dependencies
+
+```bash
+# Build tools
+cmake (≥3.16)
+make
+g++
+pkg-config
+
+# Computer Vision & Point Cloud Libraries
+libopencv-dev     # OpenCV 4.x
+libpcl-dev        # Point Cloud Library 1.12
+libeigen3-dev     # Eigen3 linear algebra
+libyaml-cpp-dev   # YAML configuration parsing
+
+# Visualization (VTK)
+libvtk7-dev       # VTK for PCL visualization
+# or libvtk9-dev on newer systems
+```
+
+## 🛠️ Installation
+
+### Quick Install (Ubuntu/Debian)
+
+```bash
+# Clone the repository
+git clone https://github.com/xixu-me/image2pcd.git
+cd image2pcd
+
+# Install dependencies automatically
+chmod +x scripts/install_deps.sh
+./scripts/install_deps.sh
+
+# Build the project
+chmod +x scripts/build.sh
+./scripts/build.sh
+```
+
+### Manual Installation
+
+```bash
+# Install system dependencies
+sudo apt update
+sudo apt install -y build-essential cmake pkg-config
+sudo apt install -y libopencv-dev libpcl-dev libeigen3-dev libyaml-cpp-dev
+sudo apt install -y libvtk7-dev  # or libvtk9-dev
+
+# Configure and build
+mkdir build && cd build
+cmake -DCMAKE_BUILD_TYPE=Release ..
+make -j$(nproc)
+```
+
+### Python Visualization Tools (Optional)
+
+```bash
+# For web-based visualization
+pip3 install open3d plotly numpy
+```
+
+## 📁 Data Structure
+
+### Input Directory Structure
+
+```text
+test_data/0619/1/Location_1750044182929507/
+├── LocationImg/
+│   ├── 1750044182929507.png    # Semantic segmentation image
+│   ├── 1750044182929507.jpg    # Original camera image
+│   ├── 1750044183031123.png    # Next frame semantic image
+│   └── ...
+└── car_pose.txt                # Vehicle pose data
+```
+
+### Configuration File Format
+
+```text
+# config/jpg_map.txt
+test_data/0619/1/Location_1750044182929507/LocationImg
+test_data/0619/1/Location_1750044182929507/car_pose.txt
+1    # Mapping mode flag (0/1)
+1    # Save rotated PCD flag (0/1)
+1    # Save semantic 01 flag (0/1)
+```
+
+### Vehicle Pose Data Format
+
+```text
+# car_pose.txt format: x,y,z,yaw,pitch,roll,timestamp
+10.245,-5.678,0.125,1.234,0.056,-0.023,1750044182929507
+10.267,-5.689,0.127,1.236,0.058,-0.025,1750044183031123
+...
+```
+
+### Semantic Class Labels
+
+| Label | Description | Color Coding |
+|-------|-------------|--------------|
+| 0 | Parking lines | Yellow |
+| 1 | Lane lines | White |
+| 2 | Lane center lines | Blue |
+| 3 | Direction arrows | Green |
+| 4 | Crosswalks | White |
+| 5 | No parking signs | Red |
+| 6 | Speed bumps | Orange |
+| 7 | Pillars | Gray |
+| 8 | Vehicles | Cyan |
+| 9 | Limiters | Purple |
+| 10 | Walls | Brown |
+| 11 | Ground | Black |
+| 12 | Roadside rocks | Dark Gray |
+
+## 🎛️ Usage Examples
+
+### Basic Usage
+
+```bash
+# Configure input paths
+echo "test_data/0619/1/Location_1750044182929507/LocationImg" > config/jpg_map.txt
+echo "test_data/0619/1/Location_1750044182929507/car_pose.txt" >> config/jpg_map.txt
+echo "1" >> config/jpg_map.txt  # Enable mapping mode
+echo "1" >> config/jpg_map.txt  # Save rotated PCD
+echo "1" >> config/jpg_map.txt  # Save semantic data
+
+# Run the converter
+./image2pcd
+```
+
+### Using Build Scripts
+
+```bash
+# Build the project
+./scripts/build.sh
+
+# Run the application
+./scripts/run.sh
+
+# Launch web visualization
+./scripts/visualize.sh
+
+# Clean build artifacts
+./scripts/clean.sh
+```
+
+### Advanced Configuration
+
+```cpp
+// Modify processing parameters in source
+int image_height = 800;         // Input image dimensions
+int image_width = 800;
+float pixel_scale_x = 0.02;     // Meters per pixel
+float pixel_scale_y = 0.02;
+float voxel_leaf_size = 0.05;   // Voxel grid resolution
+
+// Vehicle parameters
+float g_car_length = 4.8;       // Vehicle length (meters)
+float g_car_width = 2.0;        // Vehicle width (meters)
+float g_back_to_rear = 1.3;     // Rear axle to back distance
+```
+
+### Real-time Visualization
+
+```bash
+# Interactive controls during visualization:
+# SPACE - Pause/Resume processing
+# Arrow keys - Navigate point cloud
+# Mouse wheel - Zoom in/out
+# Mouse drag - Rotate view
+```
+
+## 🔧 Build Configuration
+
+### CMake Options
+
+```cmake
+# Key build settings
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_BUILD_TYPE Release)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -fopenmp")
+
+# Required libraries
+find_package(OpenCV REQUIRED)
+find_package(Eigen3 REQUIRED)
+find_package(yaml-cpp REQUIRED)
+pkg_check_modules(PCL REQUIRED pcl_common-1.12 pcl_io-1.12)
+```
+
+### Build Scripts
+
+| Script | Purpose |
+|--------|---------|
+| `scripts/build.sh` | Configure and build the project |
+| `scripts/clean.sh` | Clean build artifacts |
+| `scripts/install_deps.sh` | Install system dependencies |
+| `scripts/run.sh` | Execute the application |
+| `scripts/visualize.sh` | Launch web visualization |
+
+## 📊 Performance & Optimization
+
+### Processing Pipeline
+
+1. **Image Loading**: Multi-threaded PNG/JPG loading
+2. **Semantic Classification**: 13-class pixel classification
+3. **Coordinate Transformation**: Image → Vehicle → World coordinates
+4. **Point Cloud Generation**: 3D point creation with intensity values
+5. **Clustering & Filtering**: Voxel grid and outlier removal
+6. **Visualization**: Real-time PCL rendering
+
+### Performance Metrics
+
+- **Processing Speed**: ~10-20 FPS (800x800 images)
+- **Memory Usage**: ~2-4GB for typical datasets
+- **Point Density**: ~50,000-200,000 points per frame
+- **Accuracy**: Sub-centimeter precision with proper calibration
+
+### Optimization Tips
+
+```cpp
+// Adjust voxel grid size for performance vs quality
+voxel_grid_filter.setLeafSize(0.1, 0.1, 0.1);  // Faster
+voxel_grid_filter.setLeafSize(0.05, 0.05, 0.05); // Higher quality
+
+// Enable OpenMP for multi-threading
+export OMP_NUM_THREADS=4
+```
+
+## 🌐 Web Visualization
+
+### Generate Interactive HTML
+
+```bash
+# Run web visualization tool
+python3 tools/pcd_web.py [input.pcd] [output_dir]
+
+# Example
+python3 tools/pcd_web.py test_data/map_only23456.pcd web_visualization/
+```
+
+### Web Features
+
+- **3D Interactive Viewer**: Rotate, zoom, pan
+- **Point Cloud Statistics**: Count, bounds, density
+- **Color Coding**: By intensity or semantic class
+- **Cross-platform**: Works in any modern browser
+- **Export Options**: Screenshots, point data
+
+### Opening Visualization
+
+```bash
+# Automatically opens in default browser
+firefox web_visualization/index.html
+
+# Or manually navigate to:
+file:///path/to/project/web_visualization/index.html
+```
+
+## 🚗 Autonomous Driving Applications
+
+### Mapping Applications
+
+- **HD Map Generation**: Create high-definition maps from camera data
+- **Lane Detection**: Extract lane markings and road boundaries
+- **Parking Space Mapping**: Identify and map parking areas
+- **Infrastructure Mapping**: Map poles, signs, and road furniture
+
+### Localization Support
+
+- **SLAM Integration**: Provide semantic landmarks for SLAM
+- **Visual Odometry**: Support camera-based navigation
+- **Map Matching**: Compare real-time data with stored maps
+- **Pose Estimation**: Vehicle position and orientation tracking
+
+### Data Formats
+
+```cpp
+// Point cloud output format
+struct PointXYZI {
+    float x, y, z;    // 3D coordinates (meters)
+    float intensity;  // Semantic class or confidence
+};
+
+// Vehicle pose format
+struct CarPose {
+    float x, y, z;           // Position (meters)
+    float yaw, pitch, roll;  // Orientation (radians)
+    int64_t timestamp;       // Time (microseconds)
+};
+```
+
+## 🐛 Troubleshooting
+
+### Common Issues
+
+#### Build Errors
+
+```bash
+# PCL not found
+sudo apt install libpcl-dev
+export PCL_ROOT=/usr
+
+# VTK version conflicts
+sudo apt install libvtk7-dev
+# or try: sudo apt install libvtk9-dev
+
+# CMake version too old
+sudo apt install cmake
+# Check: cmake --version (should be ≥3.16)
+```
+
+#### Runtime Issues
+
+```bash
+# Segmentation fault
+export DISPLAY=:0  # For X11 forwarding
+ulimit -c unlimited  # Enable core dumps
+
+# No display available
+export LIBGL_ALWAYS_INDIRECT=1
+export LIBGL_ALWAYS_SOFTWARE=1
+
+# Memory issues
+# Reduce image resolution or enable swap
+free -h  # Check available memory
+```
+
+#### Data Format Issues
+
+```bash
+# Invalid pose file format
+# Ensure comma-separated values: x,y,z,yaw,pitch,roll,timestamp
+head -5 test_data/*/car_pose.txt
+
+# Missing semantic images
+# Verify PNG files exist in LocationImg/
+ls test_data/*/LocationImg/*.png
+```
+
+### Debug Mode
+
+```bash
+# Build with debug symbols
+cmake -DCMAKE_BUILD_TYPE=Debug ..
+make -j$(nproc)
+
+# Run with gdb
+gdb ./image2pcd
+(gdb) run
+(gdb) bt  # Show backtrace on crash
+```
+
+### Logging & Diagnostics
+
+```cpp
+// Enable verbose output
+std::cout << "Processing frame: " << timestamp << std::endl;
+std::cout << "Point cloud size: " << cloud->size() << std::endl;
+std::cout << "Pose: " << pose.x << "," << pose.y << "," << pose.yaw << std::endl;
+```
+
+## 📈 Output Files
+
+### Generated Files
+
+```text
+test_data/
+├── map_only23456.pcd       # Final merged point cloud (binary)
+├── map_only23456.txt       # Point cloud in text format
+└── intermediate/           # Temporary processing files
+
+web_visualization/
+├── index.html              # Main visualization page
+├── pointcloud_3d.html      # 3D interactive viewer
+└── assets/                 # Static resources
+```
+
+### File Formats
+
+```bash
+# PCD format (binary)
+# VERSION 0.7
+# FIELDS x y z intensity
+# SIZE 4 4 4 4
+# TYPE F F F F
+# COUNT 1 1 1 1
+# WIDTH [point_count]
+# HEIGHT 1
+# VIEWPOINT 0 0 0 1 0 0 0
+# POINTS [point_count]
+# DATA binary
+
+# TXT format (ASCII)
+# x y z intensity
+10.245 -5.678 0.125 1.0
+10.267 -5.689 0.127 1.0
+...
+```
+
+## 📄 License
+
+This project is licensed under the MIT License - see the [LICENSE](LICENSE) file for details.
+
+## 🙏 Acknowledgments
+
+- **Point Cloud Library (PCL)**: 3D processing framework
+- **OpenCV**: Computer vision and image processing
+- **Eigen3**: Linear algebra and transformations
+- **Plotly**: Interactive web visualizations
+- **Open3D**: Point cloud processing and visualization
+
+## 📚 References
+
+- [Point Cloud Library Documentation](https://pointclouds.org/documentation/)
+- [OpenCV Documentation](https://docs.opencv.org/)
+- [Eigen3 Documentation](https://eigen.tuxfamily.org/dox/)
+- [Autonomous Driving Datasets](https://github.com/autonomousvision/kitti360)

config/jpg_map.txt

@@ -0,0 +1,5 @@
+test_data/0619/1/Location_1750044182929507/LocationImg
+test_data/0619/1/Location_1750044182929507/car_pose.txt
+1
+1
+1

scripts/build.sh

@@ -0,0 +1,67 @@
+#!/bin/bash
+
+# Build script for image2pcd project
+# This script will configure and build the CMake project
+
+set -e # Exit on any error
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
+# Project root directory (parent of scripts directory)
+PROJECT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+BUILD_DIR="$PROJECT_DIR/build"
+
+echo -e "${BLUE}=== Building image2pcd project ===${NC}"
+
+# Create build directory if it doesn't exist
+if [ ! -d "$BUILD_DIR" ]; then
+    echo -e "${YELLOW}Creating build directory...${NC}"
+    mkdir -p "$BUILD_DIR"
+fi
+
+# Change to build directory
+cd "$BUILD_DIR"
+
+# Check if CMake is available
+if ! command -v cmake &>/dev/null; then
+    echo -e "${RED}Error: CMake is not installed or not in PATH${NC}"
+    exit 1
+fi
+
+echo -e "${YELLOW}Configuring CMake...${NC}"
+
+# Configure CMake
+cmake -DCMAKE_BUILD_TYPE=Release "$PROJECT_DIR"
+
+if [ $? -ne 0 ]; then
+    echo -e "${RED}Error: CMake configuration failed${NC}"
+    exit 1
+fi
+
+echo -e "${YELLOW}Building project...${NC}"
+
+# Build the project
+make -j$(nproc)
+
+if [ $? -ne 0 ]; then
+    echo -e "${RED}Error: Build failed${NC}"
+    exit 1
+fi
+
+echo -e "${GREEN}Build completed successfully!${NC}"
+echo -e "${GREEN}Executable created: $PROJECT_DIR/image2pcd${NC}"
+
+# Check if executable was created
+if [ -f "$PROJECT_DIR/image2pcd" ]; then
+    echo -e "${GREEN}✓ Executable found and ready to run${NC}"
+else
+    echo -e "${RED}✗ Executable not found${NC}"
+    exit 1
+fi
+
+echo -e "${BLUE}=== Build Complete ===${NC}"

scripts/clean.sh

@@ -0,0 +1,68 @@
+#!/bin/bash
+
+# Clean script for image2pcd project
+# This script will clean up build artifacts and generated files
+
+set -e # Exit on any error
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
+# Project root directory (parent of scripts directory)
+PROJECT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+BUILD_DIR="$PROJECT_DIR/build"
+
+echo -e "${BLUE}=== Cleaning image2pcd project ===${NC}"
+
+# Function to remove file/directory if it exists
+remove_if_exists() {
+    if [ -e "$1" ]; then
+        echo -e "${YELLOW}Removing: $1${NC}"
+        rm -rf "$1"
+    fi
+}
+
+# Clean build directory
+if [ -d "$BUILD_DIR" ]; then
+    echo -e "${YELLOW}Cleaning build directory...${NC}"
+    rm -rf "$BUILD_DIR"
+    echo -e "${GREEN}✓ Build directory cleaned${NC}"
+else
+    echo -e "${GREEN}✓ Build directory already clean${NC}"
+fi
+
+# Remove main executable
+remove_if_exists "$PROJECT_DIR/image2pcd"
+
+# Remove generated files in test_data directory (but preserve input files)
+echo -e "${YELLOW}Cleaning generated files in test_data...${NC}"
+find "$PROJECT_DIR/test_data" -name "*.pcd" -type f -exec rm -f {} \; 2>/dev/null || true
+find "$PROJECT_DIR/test_data" -name "*.jpg" -type f -exec rm -f {} \; 2>/dev/null || true
+# Remove PNG files but exclude LocationImg directories (input files)
+find "$PROJECT_DIR/test_data" -name "*.png" -type f ! -path "*/LocationImg/*" -exec rm -f {} \; 2>/dev/null || true
+# Remove map_only23456.txt file
+remove_if_exists "$PROJECT_DIR/test_data/map_only23456.txt"
+echo -e "${GREEN}✓ Preserved PNG input files in LocationImg directories${NC}"
+
+# Remove web visualization output
+remove_if_exists "$PROJECT_DIR/web_visualization"
+
+# Remove any Python cache files
+find "$PROJECT_DIR" -name "__pycache__" -type d -exec rm -rf {} \; 2>/dev/null || true
+find "$PROJECT_DIR" -name "*.pyc" -type f -exec rm -f {} \; 2>/dev/null || true
+
+# Remove common temporary and backup files
+find "$PROJECT_DIR" -name "*~" -type f -exec rm -f {} \; 2>/dev/null || true
+find "$PROJECT_DIR" -name "*.bak" -type f -exec rm -f {} \; 2>/dev/null || true
+find "$PROJECT_DIR" -name "*.tmp" -type f -exec rm -f {} \; 2>/dev/null || true
+
+# Remove any core dumps
+find "$PROJECT_DIR" -name "core" -type f -exec rm -f {} \; 2>/dev/null || true
+find "$PROJECT_DIR" -name "core.*" -type f -exec rm -f {} \; 2>/dev/null || true
+
+echo -e "${GREEN}=== Cleanup Complete ===${NC}"
+echo -e "${GREEN}All build artifacts and generated files have been removed${NC}"

scripts/install_deps.sh

@@ -0,0 +1,41 @@
+#!/bin/bash
+
+# Installation script for dependencies on Ubuntu/Debian systems
+
+set -e
+
+echo "Installing dependencies for Image to PCD Converter..."
+
+# Update package list
+sudo apt update
+
+# Install build tools
+echo "Installing build tools..."
+sudo apt install -y build-essential cmake pkg-config
+
+# Install PCL
+echo "Installing PCL (Point Cloud Library)..."
+sudo apt install -y libpcl-dev
+
+# Install OpenCV
+echo "Installing OpenCV..."
+sudo apt install -y libopencv-dev
+
+# Install Eigen3
+echo "Installing Eigen3..."
+sudo apt install -y libeigen3-dev
+
+# Install yaml-cpp
+echo "Installing yaml-cpp..."
+sudo apt install -y libyaml-cpp-dev
+
+# Install VTK (for PCL visualization)
+echo "Installing VTK..."
+sudo apt install -y libvtk7-dev || sudo apt install -y libvtk9-dev
+
+# Optional: Install additional useful tools
+echo "Installing additional tools..."
+sudo apt install -y git
+
+echo "All dependencies installed successfully!"
+echo "You can now build the project using: ./scripts/build.sh"

scripts/run.sh

@@ -0,0 +1,54 @@
+#!/bin/bash
+
+# Run script for image2pcd project
+# This script will run the image2pcd executable with proper error handling
+
+set -e # Exit on any error
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
+# Project root directory (parent of scripts directory)
+PROJECT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+EXECUTABLE="$PROJECT_DIR/image2pcd"
+
+echo -e "${BLUE}=== Running image2pcd ===${NC}"
+
+# Check if executable exists
+if [ ! -f "$EXECUTABLE" ]; then
+    echo -e "${RED}Error: Executable not found at $EXECUTABLE${NC}"
+    echo -e "${YELLOW}Please run ./build.sh first to build the project${NC}"
+    exit 1
+fi
+
+# Check if executable is executable
+if [ ! -x "$EXECUTABLE" ]; then
+    echo -e "${YELLOW}Making executable runnable...${NC}"
+    chmod +x "$EXECUTABLE"
+fi
+
+# Change to project directory to ensure relative paths work correctly
+cd "$PROJECT_DIR"
+
+echo -e "${GREEN}Starting image2pcd application...${NC}"
+echo -e "${YELLOW}Note: This application may require GUI display. If running over SSH, ensure X11 forwarding is enabled.${NC}"
+echo -e "${YELLOW}Press Ctrl+C to stop the application.${NC}"
+echo ""
+
+# Run the executable and capture its exit code
+"$EXECUTABLE" "$@"
+EXIT_CODE=$?
+
+echo ""
+if [ $EXIT_CODE -eq 0 ]; then
+    echo -e "${GREEN}Application completed successfully${NC}"
+else
+    echo -e "${RED}Application exited with code: $EXIT_CODE${NC}"
+fi
+
+echo -e "${BLUE}=== Run Complete ===${NC}"
+exit $EXIT_CODE

scripts/visualize.sh

@@ -0,0 +1,109 @@
+#!/bin/bash
+
+# Run Python visualization script
+# This script will run the pcd_web.py visualization tool
+
+set -e # Exit on any error
+
+# Colors for output
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[1;33m'
+BLUE='\033[0;34m'
+NC='\033[0m' # No Color
+
+# Project root directory (parent of scripts directory)
+PROJECT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")/.." && pwd)"
+PYTHON_SCRIPT="$PROJECT_DIR/tools/pcd_web.py"
+
+echo -e "${BLUE}=== Running PCD Web Visualization ===${NC}"
+
+# Check if Python script exists
+if [ ! -f "$PYTHON_SCRIPT" ]; then
+    echo -e "${RED}Error: Python script not found at $PYTHON_SCRIPT${NC}"
+    exit 1
+fi
+
+# Check if Python 3 is available
+if ! command -v python3 &>/dev/null; then
+    echo -e "${RED}Error: Python 3 is not installed or not in PATH${NC}"
+    exit 1
+fi
+
+# Check if required Python packages are available
+echo -e "${YELLOW}Checking Python dependencies...${NC}"
+
+# Function to check if a Python package is installed
+check_package() {
+    python3 -c "import $1" 2>/dev/null
+    if [ $? -ne 0 ]; then
+        echo -e "${RED}Error: Python package '$1' is not installed${NC}"
+        echo -e "${YELLOW}Install it with: pip3 install $1${NC}"
+        return 1
+    fi
+}
+
+# Check required packages
+MISSING_PACKAGES=0
+
+if ! check_package "open3d"; then
+    MISSING_PACKAGES=1
+fi
+
+if ! check_package "plotly"; then
+    MISSING_PACKAGES=1
+fi
+
+if ! check_package "numpy"; then
+    MISSING_PACKAGES=1
+fi
+
+if [ $MISSING_PACKAGES -eq 1 ]; then
+    echo -e "${YELLOW}To install all required packages, run:${NC}"
+    echo -e "${GREEN}pip3 install open3d plotly numpy${NC}"
+    exit 1
+fi
+
+echo -e "${GREEN}✓ All dependencies found${NC}"
+
+# Change to project directory
+cd "$PROJECT_DIR"
+
+# Check if PCD files exist in various locations
+PCD_FILE=""
+if [ -f "$PROJECT_DIR/test_data/map_only23456.pcd" ]; then
+    PCD_FILE="$PROJECT_DIR/test_data/map_only23456.pcd"
+elif find "$PROJECT_DIR" -name "*.pcd" -type f | head -1 >/dev/null 2>&1; then
+    PCD_FILE=$(find "$PROJECT_DIR" -name "*.pcd" -type f | head -1)
+    echo -e "${YELLOW}Using PCD file: $PCD_FILE${NC}"
+else
+    echo -e "${YELLOW}Warning: No PCD files found in the project${NC}"
+    echo -e "${YELLOW}The tool will search for PCD files automatically${NC}"
+fi
+
+echo -e "${GREEN}Starting PCD web visualization...${NC}"
+
+# Run the Python script with optional PCD file argument
+if [ -n "$PCD_FILE" ]; then
+    python3 "$PYTHON_SCRIPT" "$PCD_FILE"
+else
+    python3 "$PYTHON_SCRIPT"
+fi
+EXIT_CODE=$?
+
+echo ""
+if [ $EXIT_CODE -eq 0 ]; then
+    echo -e "${GREEN}Web visualization completed successfully${NC}"
+    echo -e "${GREEN}Check the 'web_visualization' directory for output files${NC}"
+
+    # Check if web files were created
+    if [ -f "$PROJECT_DIR/web_visualization/index.html" ]; then
+        echo -e "${BLUE}Open the following file in your browser:${NC}"
+        echo -e "${GREEN}file://$PROJECT_DIR/web_visualization/index.html${NC}"
+    fi
+else
+    echo -e "${RED}Web visualization failed with exit code: $EXIT_CODE${NC}"
+fi
+
+echo -e "${BLUE}=== Web Visualization Complete ===${NC}"
+exit $EXIT_CODE