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Classy Voxelizer

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.

Teaser

Build:

mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make

Usage:

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}
}

Notes:

  • Reads ASCII/binary PLY, writes binary PLY (thanks to tinyply)
  • <voxel_size> argument in meters
  • Requires Eigen3

License:

BSD 2-Clause License