Classy Voxelizer

Voxelizes or uniformly samples a mesh at a given voxel_size using a face-splitting algorithm. Classy Voxelizer is designed to correctly handle meshes where each point in the underlying cloud is associated to a (semantic) class, either by its color or a label property.

Example:

A mesh (source: ScanNet) where each point's color represents a semantic class.

Class Mappings:

1. color: for meshes where a point's color associates it to a (semantic) class.
2. labels: for meshes containing a 'label' attribute per point
3. none: for meshes where color attributes represent the actual appearance of that point

Build:

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

Usage:

./classy_voxelizer <input_filename> <output_filename> <voxel_size> <class_mapping> <voxelize>

The voxelize flag (true/false) specifies whether the output cloud shall contain points representing empty-space (a voxelization) or only points lying in occupied space (a uniform sampling).

Notes:

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

License:

BSD 2-Clause License