System and method for rendering of texel imagery
First Claim
1. A method for pre-processing a point cloud data set, comprising:
- constructing an octree hierarchy from the point cloud data set;
within the octree hierarchy, generating a level of detail (LOD) representative for each octree node;
replacing a set of points within the point cloud data set with a quadrilateral;
generating a texture for the quadrilateral;
defining a grid within each octree leaf node;
quantizing a position of a point remaining in the octree hierarchy to correspond to a grid cell within an octree leaf node; and
storing the octree hierarchy in a computer readable storage location for access by a renderer to thereby provide for fast and efficient rendering of the stored octree hierarchy on a display for viewing by a user.
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Accused Products
Abstract
A point cloud data set may be pre-processed for fast and efficient rendering. The pre-processing may comprise creating an octree hierarchy from the data, generating a level of detail (LOD) representation for each octree node, simplifying the points in each node according to a simplification tolerance, and storing the data structure in a file. Textures associated with each node may be stored in a separate, compressed file, such as a texture atlas. At render time, the octree and LOD hierarchy may be traversed until a suitable LOD node is found. The associated texture data may be accessed, and the node may be rendered as a textured quadrilateral and/or a splat point primitive. In an alternative approach, multiple point cloud datasets may be merged using a global transform function. The merged dataset may be simplified using a hierarchical LOD tree. Textures may be ascribed to each LOD node. The resulting structure may be rendered using splat and billboard point primitives. The model may be streamed over a network to a client where the rendering may take place.
28 Citations
25 Claims
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1. A method for pre-processing a point cloud data set, comprising:
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constructing an octree hierarchy from the point cloud data set; within the octree hierarchy, generating a level of detail (LOD) representative for each octree node; replacing a set of points within the point cloud data set with a quadrilateral; generating a texture for the quadrilateral; defining a grid within each octree leaf node; quantizing a position of a point remaining in the octree hierarchy to correspond to a grid cell within an octree leaf node; and storing the octree hierarchy in a computer readable storage location for access by a renderer to thereby provide for fast and efficient rendering of the stored octree hierarchy on a display for viewing by a user. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for rendering a point cloud data set, comprising:
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obtaining an octree hierarchy comprising an octree node; selecting a rendering point of view; determining whether the octree node is visible and culling the node from the rendering process if the determining is negative; determining a projection error of the octree node; rendering the node if the projection error is below a projection error tolerance; and displaying the rendered node on a display for viewing by a user. - View Dependent Claims (11, 12, 13)
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14. A method for pre-processing a plurality of point cloud data sets, the method comprising:
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calculating a point normal for each point in each of the plurality of point cloud data sets; computing a global transformation using the point normals; merging the plurality of point cloud data sets into a merged point cloud data set using the global transformation; simplifying the merged point cloud data set using a hierarchical level of detail (LOD) tree structure; for each tree node in the hierarchical LOD tree structure, generating a textured splat for the tree node if a point within the tree node comprises a point normal or generating a billboard point primitive for the tree node if a point therein does not comprise a point normal; and serializing the hierarchical LOD tree structure to a storage location for access by a rendering engine to provide fast and efficient rendering of the merged point cloud data set on a display for viewing by a user. - View Dependent Claims (15, 16, 17, 18, 19, 20)
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21. A method for rendering a hierarchical LOD tree generated from a plurality of point cloud data sets, the method comprising:
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obtaining a reference to a hierarchical LOD tree; selecting a rendering point of view; determining whether a node in the hierarchical LOD tree structure is visible and requesting the node from a network accessible storage location if the determining is positive; determining a projected error ε
of the node and traversing the hierarchical LOD tree structure to a higher level of detail node if the error ε
is above an error threshold;rendering the node as a textured splat if the node has a normal; and rendering the node as a billboard if the node does not have a normal, wherein the rendering is to a computer display for viewing by a user. - View Dependent Claims (22, 23, 24, 25)
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Specification