| Category |
Feature |
| Vertex Shapes |
PointCloud, RangeImage, TriangleMesh, LineSet |
| Geometries |
Plane, Line, LineSegment, Sphere, Circle, Cylinder, Cone, Box |
| Math |
Matrix, Vector |
| Registration |
ICP single and multi-view, Global registration (without initial alignment), Registration of handheld surface scans |
| Best fit (Gauss), certified by PTB |
Plane, Line, LineSegment, Circle, Sphere, Cylinder, Cone |
Best fit (Chebyshev), certified by PTB |
Plane, Line, Circle, Sphere, Cylinder |
Best fit (Minimum Enclosing) |
Circle, Sphere, Box |
| Ransac |
Best result and all possible results for all geometries |
| Nearest neighbors search |
KdTree, RangeImage projection |
| Object detection |
Find reference objects in a scan or triangle mesh |
| Surface matching |
Feature based surface matching |
| Cleaning |
Removal of outliers, small segments, steep points |
| Smoothing / denoising |
Bilateral, Gauss, Mean, Median |
| Hole filling |
RangeImage: bilateral filling, TriangleMesh: minimum area triangulation, energy minimization |
| Triangulation / Polygonization |
Triangulation of point clouds, Triangulation of range images |
| Decimation |
PointCloud: spatial thinning, subsampling (by index or random), TriangleMesh: quadric error metrics, RangeImage: subsampling |
| Calibration |
Multi sensor calibration (extrinsic pose), Linear transport calibration (for laser scanners) |
| Segmentation |
Connectivity segmentation for all vertex shapes |
| Distance, projection, intersection |
Intersect geometries (e.g. plane-line -> point), Intersect vertex shapes with geometries (e.g. all points within box) |
| Regions and selection |
Lasso, distance-to-geometry, coordinate-range, normal-range, distance-to-vertexshape |
| OpenGL |
Window, renderers for all vertexshapes and geometries |
| GD&T |
Flatness, Straightness, Circularity, Cylindricity, Parallelism, Perpendicularity |
| ISO 10360-8 |
Probing size error, Probing dispersion value |
