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QUESTION
I'm doing a job of surface reconstruction. But I met an issue :
I want to use the DIRICHLET boundary condition in poisson, but it seems that the poisson of pcl doesn't support specifying boundary condition, it just uses NEUMANN boundary condition always.
So I wonder how to use the DIRICHLET boundary condition in pcl poisson.
BTW:My goal is to calculate the volume of a container. But my pointcloud isn't watertight, so I need the algorithm to 'image' the surface of holes. CloudCompare supports specifying boundary condition, and it works well. But in pcl, the effect of NEUMANN boundary condition is terrible.
...ANSWER
Answered 2021-Dec-07 at 16:36The original PoissonRecon code is at this github repository. You can also find there prebuild executables for window command line (--bType
to set the conidtion). This is available in the command line executable starting from version 9.0.
[--bType ] This integer specifies the boundary type for the finite elements. Valid values are: 1: Free boundary constraints 2: Dirichlet boundary constraints 3: Neumann boundary constraints The default value for this parameter is 3 (Neumann).
CloudCompare uses version 7.
PCL (1.12.0 at the moment of this post) uses version 4 of PoissonRecon.
Open3D (0.14.1 at the moment of this post) includes a wrapper over version 12, which supports both boundary conditions. It is however hard-coded to use NEUMANN. You should be able to easily change the enum and compile a version of Open3D that uses DIRICHLET condition (never tried this myself).
Alternatively (if you can't use the original console app or recompile Open3D), you can try to work with what you've got.
- You can try to identify the "imaginary faces" based on the area of the faces (smaller density - larger triangle area) and remove them. The original repository offers a SurfaceTrimmer tool (another console project) that does just that (based on density value).
- Close the remaining open mesh using either some hole-closing-method or convex-hull.
QUESTION
I have large point clouds (each with several million points) and want to compute geometric attributes for all points. In order to do so, I need to calculate eigenvalues. How can I do this as quickly as possible? My data is stored in *.las files and I read them in with the package lidR. I also use this package to calculate point metrics. According to this post, I implemented this version:
...ANSWER
Answered 2021-May-02 at 11:41The problem of point_metrics()
is that it calls user's R code millions of times and this have a cost. Moreover it cannot be safely multithreaded. The function is good for prototyping but for production you must write your own code. For example you can reproduce the function segment_shape()
with point_metrics()
but segment_shape()
is pure C++ and multi-threaded and is often an order of magnitude faster.
Let try with ~3 millions points. The two examples are not equivalent (different output) but the computation load is almost the same (eigen value decomposition).
QUESTION
I'm working on my master thesis to simulate hemispherical photographs from Lidar-Data. So my main goal is to project 3D Points (X,Y,Z) which are in a cartesian coordinate system to a stereographic projection (See picture 1, from: here). The coordinate-system of my Pointcloud is transformed so that the center point is located a (0,0,0) and all z-values are positive.
I'm coding in RStudio and I first tried to achieve a spherical projection of the Pointcloud by using the formula for cartesian to spherical coordinates listed on wikipedia.
...ANSWER
Answered 2020-Sep-25 at 08:27It's difficult to show this result in 3D, but I'll try my best.
Suppose we have a collection of points in the shape of a cross suspended over the camera, paralell to the ground:
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