David Doria, “RANSAC Plane Fitting for VTK“. The VTK Journal, January 2010

RANdom SAmple Concensus (RANSAC) is an iterative method to estimate parameters of a model. It assumes that their are inliers in the data which are well explained by the chosen model. We propose a new class for VTK, vtkRANSACPlane, which …

David Doria, “Point Set Surface Reconstruction for VTK“. The VTK Journal, March 2010

This document presents a set of classes (vtkPointSetSurfaceReconstruction, vtkVoxelizePolyData) to produce a surface from an oriented point set. These classes are implemented as VTK filters. A Paraview plugin interface is provided to allow extremely easy experimentation with the new …

David Doria “Poisson Editing in ITK“. The Insight Journal, March 2011

This code provides an implementation of two techniques from “Poisson Image Editing” on ITK images. First, we fill a hole in an image given only the pixel values on the boundary. Second, we copy a patch of an image …

David Doria, Siqi Chen “Interactive Image Graph Cut Segmentation“. The Insight Journal, November 2010

This document presents a system to “scribble” on an image to mark foreground and background pixels and then feed these pixels to a graph cuts segmentation technique. The interaction is done using the Visualization Toolkit and the processing …

David Doria, “Reading a PTX file into an itkMesh“. The Insight Journal, September 2009

This document presents a set of classes to read a PTX file (a common file format produced by LiDAR scanners) into an itkMesh object. We propose these classes as addition to the Insight Toolkit.

David Doria “Criminisi Inpainting“. The Insight Journal, February 2011

This document presents a system to fill a hole in an image by copying patches from elsewhere in the image. These patches should be a good continuation of the hole boundary into the hole. The patch copying is done in an order which …

This document presents an implementation of two algorithms, Voronoi Neighbors and Binary Space Partition (BSP) Neighbors. These algorithms find neighbors of a point in a point set that are somehow “better” than a “K nearest neighbors” or a “all neighbors within a radius” query. This type of nearest neighbor query is more …

David Doria, “Stratified Mesh Sampling for VTK“. The VTK Journal, March 2010

This document presents an implementation of a stratified mesh sampling algorithm in the VTK framework. This code was adapted directly from the original implementation by Diego Nehab, with permission. We present a class, vtkStratifiedSampling, which uniformly samples a mesh. A …

David Doria, “Using and Visualizing Projective Cameras in VTK“. The VTK Journal, March 2010

This document presents a set of classes (vtkPhysicalCamera, vtkImageCamera) to enable a camera and an image acquired by that camera to be visualized in a 3D scene. Two situations where one would want to visualize camaras with associated …

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This document presents a GUI application to manually select corresponding points in two data sets. The data sets can each be either an image or a point cloud. If both data sets are images, the functionality is equivalent to Matlab’s ‘cpselect’ function. There are …

David Doria, “A Voodoo Reader and Viewer for VTK“. The VTK Journal, March 2010

Voodoo is a popular, free structure from motion software package. It takes several, ordered images as input and computes the camera parameters of each image as well as a point cloud of an estimate of the 3D structure …

David Doria, “Transforming an itkPointSet“. The Insight Journal, July 2009

This document presents a set of classes to enable operations on itkPointSet objects. In particular, itkTransformPointSetFilter allows a transformation to be applied to a set of points. We propose these classes as addition to the Insight Toolkit ITK.

David Doria, “A VTK Interface for the Hokuyo UTM 30LX Laser Range Finder“. The VTK Journal, October 2010

It is convenient to acquire data in a format which VTK can read directly. To enable this, we provide a wrapper of the Hokuyo UTM-30LX interface in a class vtkHokuyo.

David Doria, “A Point Set Processing Toolkit for VTK“. The VTK Journal, December 2009

In the last several years, an increasing number of tools produce 3D points as output. Examples include Light Detection and Ranging (LiDAR) scanners, Structure From Motion (SFM) algorithms, and Multi View Stereo (MVS) algorithms. These unordered point sets …

This document presents an implementation of an algorithm to find a low edge-count approximation of a complex, discrete, 2D closed contour. This implementation is based on the algorithm described in “Using Aerial Lidar Data to Segment And Model Buildings” and “A Bayesian Approach to Building Footprint Extraction from Aerial LIDAR Data.”

The …

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This document presents a VTK implementation of the algorithm described in “A clustering method for efficient segmentation of 3D laser data” by Klasing, Klaas Wollherr, Dirk, and Buss, Martin.

The code is available here.

David Doria, “A Synthetic LiDAR Scanner for VTK“. The Insight Journal, September 2009

In recent years, Light Detection and Ranging (LiDAR) scanners have become more prevalent in the scientific community. They capture a “2.5-D” image of a scene by sending out thousands of laser pulses and using time-of-flight calculations to determine the …

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This document presents an implementation of Moore Neighbor Tracing – an algorithm to find an ordered outline of a blob or contour in an image.

An excellent tutorial on Moore Neighbor Tracing is provided here.

The code is available here.

David Doria, “Expectation Maximization of Gausian Mixture Models in VTK“. The VTK Journal, September 2010

Expectation maximization (EM) is a common technique for estimating the parameters of a model after having collected observations of data generated by the model. We first explain the algorithm, then present our impelementation. We focus on estimation …

David Doria, “Region Growing Using a Criterion on the Region Boundary“. The Insight Journal, August 2009

This document presents a set of classes which implement a region growing algorithm whose criterion for growth is different than existing ITK region growing algorithms. The region is grown into the query pixel based only on …