Ground Truth Renderer

Features

• Loads and renders different subsets of point clouds
• View the point cloud in different modes
  • Splats: high quality splat rendering of the whole point cloud
  • Points: high quality point rendering of the whole point cloud
• Compare to a sparse subset of the point cloud with a different sampling rate
• HDF5 dataset generation containing color, normal and depth images of the point cloud
• Blending the colors of overlapping splats
• Phong Lighting

HDF5 Dataset Generation

• There are two modes for the dataset generation with parameters in the settings file
  • Waypoint dataset [F7]:
    • Interpolates the camera between the user set waypoints
    • Press [INSERT]/[DELETE] to add/remove a waypoint for the current camera perspective
    • [SPACE] shows a preview of the interpolation
    • waypointStepSize defines the interpolation value between two waypoints
  • Sphere dataset [F8]:
    • Sweeps the camera along a sphere around the point cloud
    • sphereStepSize influences the amount of viewing angles (0.2 results in ~1000 angles)
    • theta and phi min/max values define the subset of the sphere to be sweeped
• Restart the engine with the ground truth renderer
• Select the density of the sparse point cloud
• Configure the rendering parameters for the splat and sparse splat view modes
• Move the camera to the desired distance from the center of the point cloud
• Start the generation process with [F7]/[F8]
• The file will be stored in the HDF5 directory