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 |