Operators

load_pointcloud

load_tfs

load_rosbags

centroid_to_origin

• Requires: PCL
• Parameters: JSON
  • target: input and output
• Effect: Removes offset from a pointcloud and tries to reposition it at the center.
• Algorithm: Calculates a axisaligned boundingbox and demeans the pointcloud using the BBs center.

copy

• Requires: -
• Parameters: JSON
  • target: input and output
• Effect:
• Algorithm:

grid (nyi)

• Requires: -
• Parameters: JSON
  • target: input and output
  • leafsize: length of the side of each grid cell
  • cells: overrides leafsize; number of cells to create
• Effect: Splitting the pointcloud into qubes, where each qube results in an new pointcloud containing the points of the original pointcloud that are within this qube.
• Algorithm: Not yet implemented

levelset_to_mesh

• Requires: PLY Asset, OpenVDB
• Parameters: JSON
  • target: input and output; overrides input/output
  • input: ovdb levelset entitiy
  • output: surface as PLY model
  • detail: adaptivity of the mesh; between 0.0 and 1.0 with 0.0 beeing the highest detail level.
• Effect: Creates a Polygon model out of an OpenVDB Levelset
• Algorithm: uses OpenVDB Algorithm

normalestimation

• Requires: PCL
• Parameters: JSON
  • target: input and output
  • radius: radius to search for neighbours in
• Effect: Generates normals for a pointcloud
• Algorithm: Uses RadiusSearch algorithm of PCL.

ovdb_smooth

• Requires: OpenVDB
• Parameters: JSON
  • target: input and output
  • radius: distance to blow the surface up and shrink back
  • smoothness: radius for gaussian blur
• Effect: Inflates the surface (might be usefull to close holes). Then the surface is smoothed using gaussian filter. At last the surface is deflated again to it’s original volume.
• Algorithm: OpenVDB LevelSetFilter. 1) filter.offset(-radius), 2) filter.gaussian(smoothness), 3) filter.offset(radius)

surfrecon_openvdb

• Requires: PCL, OpenVDB
• Parameters: JSON
  • target: input and output; overrides input/output
  • input: pcl pointcloud
  • output: surface as ovdb levelset
  • radius: radius of the created spheres. should be larger than the avg. distance between points and as small as possible.
  • voxelsize:
• Effect: Reconstructs a surface from a pointcloud
• Algorithm: Creates level-set-spheres for each point

voxelgridfilter

• Requires:
• Parameters: JSON
  • target: input and output
  • leafsize: size of each cell
• Effect: Thin out a pointcloud. Each voxel of size <leafsize> will contain one or zero points.
• Algorithm:

Operators are versioned, the actually executed version is stored in metadata.