[英]range 3D map visualization (with vtk?)
we have a ZMap (aka depth-map) picture obtained from 3D triangulation with laser and camera. 我们有一个用激光和相机从3D三角剖分获得的ZMap(又称深度图)图片。 We know the depth value of each pixel and the resolution of camera (each pixel is associated to a 3d coordinate in mm). 我们知道每个像素的深度值和相机的分辨率(每个像素与以mm为单位的3d坐标相关联)。 Our goal is to visualize the Zmap as a 2d Surface, so we thought of creating a point cloud, generate a mesh and display it with some 3D library We thought vtk could be the right choice, but we encountered some problem. 我们的目标是将Zmap可视化为2d曲面,因此我们考虑创建点云,生成网格并使用一些3D库显示它。我们认为vtk是正确的选择,但遇到了一些问题。
First we tried unorganized structure (vtkPolyData), generating meshes by 3dDalaunay triangulation. 首先,我们尝试使用无组织结构(vtkPolyData),通过3dDalaunay三角剖分生成网格。 But the code is properly working when number of points is < 50k. 但是,当点数<50k时,代码可以正常工作。 Our 3D reconstruction is composed by 480k points and the computation time is really too much high. 我们的3D重构由480k点组成,计算时间确实太长了。
Then we switched to organized (point with connections). 然后,我们切换到有条理(连接点)。 IMHO this additional information should reduce computation time to create mesh, but we are not able to understand how to create a "vtkStructuredGrid" and to feed it with our Z values to get a 2D meshed surface. 恕我直言,这些附加信息应减少创建网格的计算时间,但是我们无法理解如何创建“ vtkStructuredGrid”并将其Z值输入以获得2D网格化表面。
Is it the proper way to do? 这是正确的方法吗? Has anyone never tried this? 有没有人尝试过?
Thanks in advance 提前致谢
if your points are organized in 2D grid (while scanning) then you do not need complicated and slow triangulation algorithms 如果您的点以2D网格组织(在扫描时),则不需要复杂而缓慢的三角剖分算法
organize points into 2D table/grid 将点组织到2D表/网格中
x,y
axises are parallel to table/grid u,v
indexes 所以点x,y
轴平行于表格/网格u,v
索引 double pnt[maxU][maxV][3];
存储在类似: double pnt[maxU][maxV][3];
x,y
are directly aligned to grid then you need to store just the Z coordinate to spare some memory 如果x,y
直接与网格对齐,那么您只需要存储Z坐标即可节省一些内存 segmentate segmentate
int obj[maxU][maxV];
因此添加如下结构: int obj[maxU][maxV];
(u*maxV+v)
设置其余的唯一obj索引,例如(u*maxV+v)
triangulate 三角
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