Fast Resampling on Point Clouds via Graphs

Features

The software "FRPC" package is intended to demonstrate how to use a graph based filter to conduct subsampling on an input point cloud.

Installation

Compile the mex function

Under ./graphScore subfolder is the C++ source code that perform graph filtering on an input point cloud.

The functions are wrapped up with a mex interface that could be called from Matlab.

The package depends on:

nanoflann already included within the distribution. See ./graphScore/nanoflann
eigen3 not included within the distribution. See the following web link: https://eigen.tuxfamily.org/dox/GettingStarted.html

Compilation command

Use ./compile.bash under ./graphScore. Note that you may need to update the pointer to eigen3.

Usage

Matlab script to run demonstration

Run testSubsample.m under the root directory. You should be able to produce the subsampling results as shown in ./sample.png.

The demonstration script would generate a series of subsampled version from an input point cloud. The points from a sparser version always appear in a denser version. The is implemented through subsamplePointCloudGranual.m that calls the proposed graph filter.

Matlab Computer Vision Toolbox is needed to load the .ply file

Graph filter selection

The graph filter selection is fixed to be graph Laplacian. For other optional graph filters, you need to edit the function buildGraphEigen(), C++ code graphFilter.cpp under ./graphScore.

Example point cloud data

Example point cloud data can be found under ./ply

Citation

If you use the software, please cite the following (TR2017-215):

@article{Chen2017nov,
    author = {Chen, Siheng and Tian, Dong and Feng, Chen and Vetro, Anthony and Kovacevic, Jelena},
    title = {Fast Resampling of 3D Point Clouds via Graphs},
    journal = {IEEE Transactions on Signal Processing},
    year = 2017,
    volume = 66,
    number = 3,
    pages = {666--681},
    month = nov,
    doi = {10.1109/TSP.2017.2771730},
    url = {https://www.merl.com/publications/TR2017-215}
}

Contact

Anthony Vetro avetro@merl.com

Contributing

See CONTRIBUTING.md for our policy on contributions.

License

Released under AGPL-3.0-or-later license, as found in the LICENSE.md file.

All files, except as noted below:

Copyright (C) 2018, 2023 Mitsubishi Electric Research Laboratories (MERL).

SPDX-License-Identifier: AGPL-3.0-or-later

graphScore/nanoflann/KDTreeVectorOfVectorsAdaptor.h (see BSD-2-Clause.txt):

Copyright 2011-16 Jose Luis Blanco (joseluisblancoc@gmail.com). All rights reserved.

SPDX-License-Identifier: BSD-2-Clause

graphScore/nanoflann/nanoflann.hpp (see BSD-2-Clause.txt):

Copyright 2008-2009  Marius Muja (mariusm@cs.ubc.ca). All rights reserved.
Copyright 2008-2009  David G. Lowe (lowe@cs.ubc.ca). All rights reserved.
Copyright 2011-2016  Jose Luis Blanco (joseluisblancoc@gmail.com). All rights reserved.

SPDX-License-Identifier: BSD-2-Clause

merlresearch / FRPC