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computree / computree-plugin-lvox

Computree voxel plugin
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Filter points at origin #2

Open giraldeau opened 7 years ago

giraldeau commented 7 years ago

Some scanners such as FARO 120 produce points at (0,0,0) if the ray is lost or filtered. When the scene is far from the origin, the resulting bounding box is much larger that required, because it includes the origin. By default, the voxel volume is based on the bounding box. Filter the points at the origin that are not required anyway.

Naime1 commented 7 years ago

Just to mention that this step does not interfere with the "shooting pattern retrieval" improvement.

giraldeau commented 7 years ago

The points are filtered by creating a new point cloud. This method is inefficient. Once the old cloud is deleted, the global points array is compacted, which is rather slow.

Filtering the points at load time would prevent this additional processing. However, filtered points are not available for shooting pattern retrieval.

Michaël suggested using an additional point index to define a subset of the cloud points. It is not clear how to implement, though. I'm waiting for an example to continue in that direction.

giraldeau commented 7 years ago

This feature is implemented as a filter lambda for three readers: ascii, ascrgb and xyb. There should be an indication that the filter is not available for other point formats.