Interactive Point Cloud Processing Application

Video:
https://vimeo.com/265704935

Source Code:
https://github.com/tom-uchida/Interactive_Point_Cloud_Processing_Application

Transcript

1. ©Computer Graphics Lab 1 Computer Graphics Lab 1 A AHK IA O KB / OAM OE A 4KE O HKP 4MK ANNE C HE OEK )( Y SU ()/ F V V GMRSN
2. ©Computer Graphics Lab 1 ©Computer Graphics Lab 1 2 KM / OMK P OEK
3. ©Computer Graphics Lab 1 ©Computer Graphics Lab 1 3 p K E OAM OE AHT E OPEOE AHT MK ANN KE O HKP p K A NEHT P AMNO ODA MK ANNE C MK ANN T ENP HEUE C ODA HCKMEODI n 9 YO SO MO 3 SNO 3 V QO 3 FO 1KOE OEK Text Experience
4. ©Computer Graphics Lab 1 ©Computer Graphics Lab 1 4 SA POEK A AHK IA O EMK IA O p 1 KK EM 9 Ua ()-" p K A -M IARKM N ( 0 /J " n 7 n AYO > http://openframeworks.cc/ja/
5. ©Computer Graphics Lab 1 ©Computer Graphics Lab 1 MAA S H OEK GUI for all modes GUI for current mode Number of points Current mode name Procedure description Frame per second
6. ©Computer Graphics Lab 1 ©Computer Graphics Lab 1 6 AIK 1K EA
7. ©Computer Graphics Lab 1 ©Computer Graphics Lab 1 7 p HCKMEODI ! / OAM 4KE O ENO A 1K A Step.1 The user selects a first point. Step.2 The user selects a second point. Step.3 Calculate the inter-point distance. Inter-point distance First point Second point
8. ©Computer Graphics Lab 1 ©Computer Graphics Lab 1 8 p HCKMEODI ! 5AIK A 4KE ON 1K A Step.1 The user selects the range that wants to remove. Step.2 Remove points in that range. n For the point cloud, it is necessary to convert from the world coordinate system to the screen coordinate system. World coordinate system Screen coordinate system Remove ! " # " ! 3D 2D
9. ©Computer Graphics Lab 1 ©Computer Graphics Lab 1 9 p HCKMEODI ! MA OA MKNN A OEK 1K A Step.1 The user selects " or ! or # axis. Step.2 The user selects coordinate value and offset. Step.3 Calculate normal vector and center of gravity for that range. Step.4 Apply all points in that range to the plane equation. Result The user can select the range
10. ©Computer Graphics Lab 1 ©Computer Graphics Lab 1 10 ! MA OA MKNN A OEK 1K A $ = ('( , '* , '+ ) is any point in the plane. - m(-( , -* , -+ ) is normal vector. Perform PCA for the points in the range that the user selected. /0 0 − 20 + /4 4 − 24 + /5 5 − 25 = 6 Center of gravity Normal vector Equation of Plane : Create cross-section - $
11. ©Computer Graphics Lab 1 ©Computer Graphics Lab 1 11 p / OAM KH OEK HCKMEODI ! / OAM KH OA 4KE ON 1K A Step.1 For the query point, get points within the counting sphere. (The user can selects the radius.) Step.2 Temporarily save midpoints between the query point and each points(Step.1) as interpolation candidate points. Step.3 If there are no points within a certain range(The user can selects) from the interpolation candidate point, that point will be a interpolation point. Interpolation candidate points Query point Points in the counting sphere Counting sphere
12. ©Computer Graphics Lab 1 ©Computer Graphics Lab 1 12 p HCKMEODI ! MCAO 5 CA 4 1K A Step.1 For the query point, get points within the counting sphere. (The user can selects the radius.) Step.2 Perform principal component analysis for that points. Query point Points in the counting sphere Counting sphere First principal component vector Third principal component vector (Normal vector) Second principal component vector
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