Voxelizes a mesh at a given voxel size using a face splitting algorithm. Classy Voxelizer can treat the colors of points as corresponding to classes and preserves these during voxelization. Or it can just treat them as colors to produce a colored voxelization.
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make
For point clouds in which colors represent classes:
./classy_voxelizer <input> <output> <voxel_size> class
For point clouds in which colors don't represent classes:
./classy_voxelizer <input> <output> <voxel_size> color
Classy Voxelizer is particularly useful to process ScanNet data
@inproceedings{dai2017scannet,
title={ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes},
author={Dai, Angela and Chang, Angel X. and Savva, Manolis and Halber, Maciej and Funkhouser, Thomas and Nie{\ss}ner, Matthias},
booktitle = {Proc. Computer Vision and Pattern Recognition (CVPR), IEEE},
year = {2017}
}
- Reads ASCII/binary PLY, writes binary PLY (thanks to tinyply)
- <voxel_size> argument in meters
- Requires Eigen3