[vtk-developers] vtkPointCloud remote module

[Geoff Wright]

Hi Will,

This is good to see.  I'm currently using VTK to generate surfaces from
some point cloud data.  I have some initial pre processing steps that I use
PCL (point cloud library) for, and then a vtk stage that converts PCL point
cloud into vtkPolyData/vtkPoints.  It would be great to eliminate the PCL
dependency and use exclusively vtk.  My point cloud data grows very large
over time with a lot of redundant points so its very important to
downsample them onto uniform spacing (
http://docs.pointclouds.org/trunk/classpcl_1_1_voxel_grid.html ) before
processing them in vtk.  Would it make sense to add something like this to
your library?

Geoff







On Thu, Jan 28, 2016 at 9:12 AM Will Schroeder <will.schroeder at kitware.com>
wrote:

> FYI- I have committed an initial set of filters for performing point cloud
> processing. Any feedback or suggestions are welcome as this is an initial
> prototype. The work is currently available as a remote module to VTK
> (vtkPointCloud) via this repository:
> https://gitlab.kitware.com/vtk/point-cloud.git
>
> A couple of notes:
> + Right now I am using vtkPolyData to represent the point cloud via a
> vtkPoints instance. There are no vtkVertex, vtkPolyVertex cells created to
> save on memory.
> + The classes will process as input any vtkPointSet dataset
> + There is a general framework for filtering point clouds via the class
> vtkPointCloudFilter. Besides their filtered cloud output, these filters
> also have an optional, second output which contains any points removed from
> the input.
> + Current filters include vtkRadiusOutlierRemoval,
> vtkStatisticalOutlierRemoval, vtkExtractPoints (extract points using an
> implicit function). Some of  these names are inspired by PCL
> <http://pointclouds.org/> names.
> + All filters are threaded using vtkSMPTools using a threaded locator
> (vtkStaticPointLocator) so I believe that this is relatively fast, although
> I have not done much testing.
> + I'm using vtkPointGaussianMapper in the tests, a class that Ken wrote
> that is very fast.
>
> As usual comments and suggestions are requested. In particular any
> suggestions for other filters to write are welcome (to round out some of
> the core functionality). The repository is in flux as I try crazy ideas and
> try to educate myself, so be forewarned.
>
> Best,
> W
>
>
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