[vtk-developers] vtkPointCloud remote module

[Aashish Chaudhary]

Will,

This works sounds like a great addition to VTK (via remote module)!!

Thanks,


On Thu, Jan 28, 2016 at 10:03 AM, Will Schroeder <will.schroeder at kitware.com
> wrote:

> Thanks for the feedback. I have some downsampling filters in the works
> now, I'll let you know when I have something ready.
>
> BTW we are on a similar path. PCL is awesome, but we have some common
> workflows that would be better served with more compact software
> environments, and with minimal IO and/or data transfer. So we're trying to
> knock of a small kernel of capability to achieve this.
>
> Best,
> W
>
> On Thu, Jan 28, 2016 at 9:56 AM, Geoff Wright <gpwright at gmail.com> wrote:
>
>> 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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>
>
> --
> William J. Schroeder, PhD
> Kitware, Inc. - Building the World's Technical Computing Software
> 28 Corporate Drive
> Clifton Park, NY 12065
> will.schroeder at kitware.com
> http://www.kitware.com
> (518) 881-4902
>
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-- 



*| Aashish Chaudhary | Technical Leader         | Kitware Inc.            *
*| http://www.kitware.com/company/team/chaudhary.html
<http://www.kitware.com/company/team/chaudhary.html>*
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