daviddoria.com

by admin

See more pictures of the scratching post here!

We bought a new scratching post/perch for our cats. The base and top was originally laminated MDF. I upgraded it by redoing the base and top with red oak, finished only with shellac. Looks much nicer, and the shellac has no toxins for the cats …

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May 03

Pen

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by admin

Click here to see more pictures of the pen!

This was my first time turning anything on a lathe. I took a pen turning course and this is what I ended up with! I was very happy with the result after only a few hours working on a lathe.

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May 03

Coffee Table

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by admin

Click here to see more pictures of the coffee table!

This coffee table was a PROCESS. My wife and I really wanted a neat centerpiece for our new living room and we thought the modern design of this really matched our taste. What I didn’t know, when I was picking out wood for …

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May 03

Bookcase #2

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by admin

Click here to see more pictures of the second bookcase!

This is the second bookcase that almost matches the first. This bookcase is the larger of the two. It has three shelves and is the same height as the first, just wider. Another difference is I did the front of this using …

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May 03

Grill Addition

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by admin

Click here to see more pictures of the grill extension!

My wife and I recently bought a new grill, and we thought it’d be helpful if we had a bit more surface area to place plates or food, etc. So, I added an extension wing to the end of it!

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May 03

Drying Rack

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by admin

I ideally need a separate finishing room in my woodshop but at this point in time, my wife won’t let me spend the money (boo!). So, I built a drying rack where I could lay several pieces I am working on to dry instead of placing them all over the other surface tops in the …

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Feb 21

Bookcase #1

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by admin

Click here to see more pictures of the bookcase!

I am building two bookcases for our offices at home. Both are made out of cherry and have a similar style. This one is the smaller of the two. It has two shelves, is 26″ wide and 35″ high. I finished the bookshelf …

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Feb 21

New Workbench

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by admin

Click here to see more pictures of the workbench!

As you may know, before I moved to Maryland, my workshop was in my one-car garage. Since my wife insisted on parking in the garage (how ridiculous, right?!), everything I used had to be able to be folded up against the side of the …

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Feb 21

End Tables

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by admin

Click here to see more pictures of the end tables!

Second on the list was to create a couple of small end tables for our basement setup. These were made out of sassafras wood. I’ve never worked with this wood before, but it was actually incredibly pungent! it smelled like strong fresh herbs while I …

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Feb 21

TiVo Table

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by admin

Click here to see more pictures of the TiVo table!

My third major project was building a table to put in the master bedroom. This table was specifically built to hold our TiVo and DVD player. This was built out of black walnut. I loved the natural color of the wood, …

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Jun 25

Consistency/Confidence Poster 3DIM 2009

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Posters

by admin

I presented this poster at the 3-Dimensional Imaging and Modeling (3DIM) workshop in conjunction with the International Conference on Computer Vision in 2009 in Kyoto, Japan.

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Jun 23

Filling Large Holes in LiDAR Data By Inpainting Depth Gradients Presentation

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Filling Large Holes in LiDAR Data By Inpainting Depth Gradients Presentation

by admin

This presentation was given at the Point Cloud Processing Workshop in conjunction with the Computer Vision and Pattern Recognition (CVPR) conference in Providence, Rhode Island (June 2012). It summarizes the work in “Filling Large Holes in LiDAR …

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Jun 23

PCL Enhancements (CVPR PCL Tutorial 2012)

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PCL Enhancements

I presented this talk at the Point Cloud Library Tutorial session at the Computer Vision and Pattern Recognition (CVPR) conference in Providence, Rhode Island (June, 2012). The talk focused on recent events in the Point Cloud Library, many of which were the result of several Google …

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Technical Journals and Conferences

May 03

Filling Large Holes in LiDAR Data By Inpainting Depth Gradients

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by admin

We introduce a technique to fill large holes in LiDAR data sets. We combine concepts from patch-based image inpainting and gradient-domain image editing to simultaneously fill both texture and structure in a LiDAR scan. We discuss the problems with directly inpainting a depth image, and present a solution to this problem based on inpainting the …

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Non-Technical Journals and Conferences

Mar 12

A Robotics Based Design Activity to Teach the Doppler Effect

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by admin

Jonathan Ashdown, David Doria , “A Robotics Based Design Activity to Teach the Doppler Effect” 2012 IEEE Integrated STEM Education Conference.

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Magazines, Technical Reports

Feb 02

A Greedy Patch-based Image Inpainting Framework

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by admin

Click here to see the full publication.

We present a system for filling holes 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. There is typically no “right answer” as we are extrapolating image data …

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Magazines, Technical Reports

Feb 02

Poisson Editing in ITK

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by admin

Click here to see the full publication.

Two very related problems in image processing are hole filling and compositing. This article explains an implementation of similar algorithms to solve both of these problems – poisson editing and …

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Feb 02

Kitware Source 2011 Top Submission of the Year

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by admin

One of my articles, “Poisson Editing in ITK“, was chosen as one of Kitware Source’s top submissions of 2011.

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Feb 01

Teaching software libraries by example

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Teaching software libraries by example

by admin

This post has no tag

Jan 30

Kitware Source 2011 Top Submission of the Year (#2)

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by admin

One of my articles, “A Greedy Patch-based Image Inpainting Framework“, was chosen as one of Kitware Source’s top submissions of 2011.

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Jan 30

2011 People’s Choice Award

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by admin

OpenSource.com chose me as their top contributor in 2011.

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Jan 06

const a, a const, and const a* const, oh my!

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Programming Techniques

by admin

Everyone knows how to pass a pointer to a function:

void MyFunction(int*){}

int* a = new a; MyFunction(a);

But how do you make this const correct? (I learned this from here: http://www.parashift.com/c++-faq-lite/const-correctness.html#faq-18.5)

Lets start with the non-pointer const syntax:

void MyFunction(const int a){}

This means ‘a’ is passed by value, so if you change a …

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Magazines, Non-Technical Articles

Nov 27

Improving the speed and quality of research via shared algorithm implementations

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by admin

I wrote an article for the March 2011 Edition of IEEE GOLDRush magazine.

(Hosted locally for redundancy)

A short summary of the article is:

“Sharing and dissemination of ideas throughout a research field is absolutely critical. Recently, algorithms have become quite complex and ideas are tightly coupled to their …

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Nov 27

Social Coding

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Lectures, Talks

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Social Coding

I prepared this talk for the Product Design and Innovation course at RPI to teach students about modern tools (such as Github) that allow them to work collaboratively on projects.

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Benefits of Open Source Practices 2011-09-15(pdf)

Nov 27

Benefits of Open Source Practices

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Lectures, Talks

by admin

Benefits of Open Source Practices 2011-09-15(odp)

Benefits of Open Source Practices 2012-09-10(pdf)

Benefits of Open Source Practices 2012-09-10(odp)

I prepared this talk for the Product Design and Innovation course at RPI to encourage students to share their ideas and …

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Oct 01

My Wedding

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My Family

by admin

I married my wife on October 1, 2011. Some of our wedding photos can be viewed here!

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Aug 26

Small Hole Filling in ITK

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by admin

Click here to see the full publication.

This code provides an implementation of a simple technique to fill small holes in an image. We use a multi-pass method that fills pixels on the border of a hole with the average of its non-hole 8-connected neighbors. This process is repeated until all …

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Aug 26

Interactive Correspondence Selection

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Click here to see the full publication.

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 …

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Aug 12

Moore Neighbor Tracing

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by admin

Click here to see the full publication.

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.

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Aug 12

Clustering Segmentation for VTK

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by admin

Please click here to read the full publication.

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.

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Jul 22

Smart Nearest Neighbors

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by admin

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 …

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Jul 20

Morphological Opening on a Graph

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by admin

This document presents an implementation of an algorithm to perform a morphological opening on a graph. The intent is to remove short branches in a graph while preserving the large scale structure. This implementation is based on the algorithm described in “Efficient Closed Contour Extraction from Range Image’s Edge Points”. We have …

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Jul 20

Closed Loop Simplification

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by admin

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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Jun 27

Hough Transform Plane Detector

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by admin

This document presents a VTK wrapper of an extracted portion of ‘3DTK – The 3D Toolkit’ to enable a developer to ﬁnd planes in 3D point cloud data. Click here to see the publication.

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May 04

Cats

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My Family

by admin

I have two cats, Bebop and Ella. Surprisingly, Hayley came up with the names, not me! Bebop (aka Monkey, aka Bop, aka Bopper) is the gray domestic short hair. Sometimes I think he is smarter than I am, but sometimes, only when he wants to, he is the snuggliest cat you have ever …

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May 04

Bird House

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by admin

Click here to see more pictures of the birdhouse!

This was my very first project. It turned out decent, but I learned first hand exactly how warped pine from a hardware store is! Even when I “measured twice and cut once”, things didn’t line up very well. After some investigation it turned out …

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May 04

Dog Stairs

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by admin

Click here to see more picture of the stairs!

I was asked to build some small stairs so a neighbors dog with a bad knee could more easily climb onto their bed. There is a dado (aka notch) in the back two sets of legs for the previous step to sit in. Since …

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May 04

Cat Feeder Lockdown

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by admin

kitty feeder

One of my cats, Bebop, is quite a little trouble maker. We bought the cats an automatic feeder because the other one, Ella, can’t control her food intake properly! Unfortunately, it seems that the testing process implemented by the designers of this device did not include putting it near a …

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May 04

Folding Workbench

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by admin

Click here to see more pictures of the folding workbench!

As I only have a one car garage, if I wanted to continue to park in it as well as do some woodworking, I had to build this folding workbench. It works great!

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May 04

Coffee Table

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by admin

Click here to see more pictures of the coffee table!

This was my first contract gig as a wood worker. A guy on CraigsList had broken the glass on his coffee table and wanted to replace it with wood so the repair would be less expensive. I made a orange/gold inlay to …

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May 04

Oak Bench

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by admin

Click here to see more pictures of my first project, this bench!

Pushing the limits of my woodworking skills, I built a bench out of red oak. I was extremely pleased with the result! It is happily displayed at the foot of my bed.

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May 04

Motorized Bicycle

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by admin

Motorized Bicycle

I’m still not sure about how good of an idea this was, but I decided to make a motorized bicycle. It worked pretty well, going nearly 35mph! It was a “friction drive” system – powered by rotating the tire directly. It would be pretty neat if it didn’t come to …

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May 04

Coil Gun

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by admin

Coil Gun

This was a “pre-engineering school” attempt at a coil gun. It was a nice practical introduction to capacitors, rectification, and inductance.

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May 04

Aluminum Chess Set

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Chess Set

I’m not much of a chess player, but I thought this would be a good exercise to become proficient in a metal shop. The board is made from an old server rack shelf. The pieces are made from scrap aluminum stock. One team is polished and the other is sandblasted.

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May 04

Kaleidoscope

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by admin

Kaleidoscope Kaleidoscope

My girlfriend (now wife!) collects kaleidoscopes so I decided to make her one. They are actually quite simple – three first surface mirrors configured in a triangle stuck in a tube. Easier said than done! The result was great though! I used a laser cutter to make the acrylic stand.

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May 04

Daniweb.com contributions

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Contributions

by admin

Daniweb.com

At the beginning of my graduate school career I realized that my C++ skills were not as refined as they needed to be. I joined an amazingly helpful formum of Daniweb.com (almost 1 Million members) . After receiving excellent, very quick help for quite some time, I realized that forums …

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May 04

ITK Examples Wiki

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Contributions

by admin

ITK Examples Wiki

Motivated by the success of the VTK Examples Wiki, I created the same platform for ITK . My hope is that this page will again significantly reduce the learning curve of these very useful, but quite complex, toolkits.

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May 04

VTK Examples Wiki

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Contributions

by admin

VTK Examples Wiki

After struggling through the learning curve of VTK and ITK for a few years, I decided no one else should need to do the same. I created the VTK Examples Wiki to host short, compilable examples that demonstrate basic functionalities and tasks. This wiki was extremely well received by the …

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Introduction To Visualization

May 04

New Course at RPI: Introduction To Visualization

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Courses

by admin

I co-taught a course at RPI (CSCI-4972) named “Introduction To Visualization” to share my knowledge and experience using the Visualization Toolkit (VTK). I prepared the lectures in such a way that they are usable even by people not in the course : VTK Lectures.

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May 04

The role of technical forums in the progress of open source

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The role of technical forums in the progress of open source

by admin

This post has no tag

May 04

Improving the speed and quality of research via shared algorithm implementations

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Improving the speed and quality of research via shared algorithm implementations

by admin

This post has no tag

May 04

How To: Founding an Open Source Software Center at a University

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How To: Founding an Open Source Software Center at a University

by admin

This post has no tag

May 04

Open source software gains ground in higher education

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by admin

Open source software gains ground in higher education. OpenSource.com, February 2011

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May 04

Loopy Belief Propagation on MRFs in ITK

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by admin

David Doria “Loopy Belief Propagation on MRFs in ITK “. The Insight Journal, March 2011

This code provides a base implementation of Loopy Belief Propagation on MRFs in ITK. We use binary image denoising as an example problem to demonstrate this code. This document is intended only to describe the implementation, not …

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2 comments

Apr 28

inSCIght: The Scientific Computing Podcast, Episode 10

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Podcasts

by admin

I was a moderator for inSCIght’s Episode 10 about how to improve technical education. Click here to listen!

This post has no tag

Mar 12

Poisson Editing in ITK

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by admin

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 …

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Non-Technical Journals and Conferences

Mar 04

Teaching Practical Software Tools Using Screencasts While Simultaneously Reinforcing Theoretical Course Concepts

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by admin

Jon Ashdown, David Doria, Michael Wozny, “Teaching Practical Software Tools Using Screencasts While Simultaneously Reinforcing Theoretical Course Concepts“. American Society of Engineering Education St. Lawrence Section Conference, March 2011.

This post has no tag

Mar 01

inSCIght: The Scientific Computing Podcast

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Podcasts

by admin

I was a guest on inSCIght’s Episode 2 podcast. Listen to it here!

This post has no tag

Feb 04

Criminisi Inpainting

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by admin

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 …

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Jan 30

Kitware Source 2010 Top Submission of the Year

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by admin

One of my articles, “A Synthetic LiDAR Scanner for VTK“, was chosen as one of Kitware Source’s top submissions of 2010.

This post has no tag

Jan 03

Selfish Behavior Leads to Inefficiency

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Everyday Analysis

by admin

In the language of Game Theory (http://en.wikipedia.org/wiki/Game_theory), a zero-sum game is a situation in which one player’s (person’s) success comes at the other’s expense. For example, if I take a big piece of cake, there is less cake left for everyone else. This is also known as a “rivalrous good” in Economics. While this …

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Nov 29

Interactive Image Graph Cut Segmentation

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by admin

InteractiveImageGraphCutSegmentationthumb

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 …

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Nov 08

Introduction to the ITK Examples Wiki

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by admin

ITK Examples Wiki

I prepared this talk for the ITKv4 Fall 2010 Meeting (Iowa) to announce the ITK Examples Wiki. I was unable to attend the meeting so the talk was presented by Luiz Ibanez on my behalf.

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Nov 03

Qt Introduction

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by admin

Qt Introduction

I prepared this talk to introduce RPI students to Qt4.

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Oct 13

RPI UserVoice – Crowdsourcing Campus Improvements

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RPI UserVoice – Crowdsourcing Campus Improvements

by admin

I gave this presentation to the RPI Student Senate to encourage them to utilize the student body (the “crowd”) to develop interesting and useful improvements to the campus.

This post has no tag

Oct 05

A VTK Interface for the Hokuyo UTM 30LX Laser Range Finder

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by admin

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.

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Sep 28

A K-Means++ Clustering Implementation for VTK

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by admin

David Doria, “A K-Means++ Clustering Implementation for VTK“. The VTK Journal, September 2010

K-Means clustering is an excellent technique for clustering points when the number of clusters is known. We present a implementation (vtkKMeanClustering) of the algorithm written in a VTK context. We also implement the K-Means++ initialization method which finds the …

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Sep 23

A Mean Shift Clustering Implementation for VTK

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by admin

David Doria, “A Mean Shift Clustering Implementation for VTK“. The VTK Journal, September 2010

Mean shift clustering is an excellent technique for clustering points when the number of clusters is not known. We present a implementation (vtkMeanShiftClustering) of the simplest version of the algorithm written in a VTK context.

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Sep 21

Expectation Maximization of Gausian Mixture Models in VTK

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by admin

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 …

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Sep 09

Systematically Writing Free Articles And Texts

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Systematically Writing Free Articles And Texts

by admin

I gave this presentation at a meeting of the Rensselaer Center for Open Source (RCOS) to encourage students to share their knowledge and insights by producing useful and lasting documents which capture the main ideas.

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Sep 04

Fix/Report Problems As You Find Them!

Categories:

Everyday Analysis

by admin

The title says it all. This applies to all aspects of life – from a pothole on your drive to work, to a broken link on a website, to asking a question in a class, to fixing a bug in a software project.

There are three main reasons I attribute to people following this bad …

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Aug 28

Improving Technical Topics at WikiVersity – Wikipedia Conference at NYU

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Improving Technical Topics at WikiVersity – Wikipedia Conference at NYU

by admin

I prepared this talk to alert Wikipedians to some best practices in crowdsourcing engineering education content production.

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Thoughts on Scientific Research and Engineering Education

Jul 22

Call for coherent, systematic field summaries

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by admin

The overview

As a Ph.D. student, figuring out what has already been done by past researchers is by far the hardest problem I have come across. The current expectation and requirement is that every student will browse tens of conferences and journals going back tens of years. At the end of this long and tedious …

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Thoughts on Scientific Research and Engineering Education

Jul 22

Conference Summary Committees

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by admin

At every professional conference, hundreds of papers are presented. This can quickly become quite overwhelming. For people in attendance, the game plan seems to be to scan the list of titles in the conference schedule to see which posters and talks seem most interesting and/or most applicable to the individuals research objectives. To be sure, …

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Thoughts on Scientific Research and Engineering Education

Jul 22

Students are not being prepared for industry

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by admin

I can only speak about my field (computer vision and image processing), but I imagine the situation is similar across the board. What we learn in college are “the fundamentals” – the theoretical (often too much so) ideas of many topics. We are seldom asked to implement these ideas in software. When we are, it …

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Thoughts on Scientific Research and Engineering Education

Jun 01

Stop letting students play online during class!

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by admin

Walk into almost any college classroom and you will almost certainly see at least a handful of students staring at a laptop screen, clearly not at all paying attention to the instructor. In this discussion, let’s ignore the underlying reasons that the students are not paying attention (most times it is the lecturers fault that …

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Thoughts on Scientific Research and Engineering Education

May 26

Granularity of Grading Scales

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by admin

One thing that has always bothered me is the granularity of grading scales. The point of the exercise of giving a grade should be an attempt to classify how well the student learned the material. It seems reasonable to classify this level of understanding into “not at all”, “not very much”, “ok”, “pretty well”, and …

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Thoughts on Scientific Research and Engineering Education

May 24

Why does no one care that professors aren’t trained as instructors?

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by admin

It has always seemed extremely odd and unacceptable to me that faculty members of most universities, while being experts in their areas of research, have not received even a single hour of training on how to be an effective educator. While such expert status may make someone the best person to teach a very specialized …

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Thoughts on Scientific Research and Engineering Education

May 20

Teach the “Why”, Not the “How”

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by admin

Let us consider a college Calculus course. The timeline of the course goes approximately like this:

Week 1 – What is a derivative? Week 2-10 – Practice manually computing derivatives of hundreds of functions. Week 11 – What is an integral? Week 12-20 – Learn many methods for performing integration manually and practice this on …

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Thoughts on Scientific Research and Engineering Education

May 17

Problem Abstraction: Helping others help you & promoting the archive-ability of your answers

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by admin

I find all too often on mailing lists and forums that people are so concerned with getting the answer to their question that they forget that no one else has anywhere near the same view of the problem as they do.

Asking too specific of a question is extremely harmful to all parties. For the …

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Thoughts on Scientific Research and Engineering Education

May 14

Creating a Common Research Language

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by admin

As a research engineer, the sharing and dissemination of ideas throughout the field is absolutely critical. These ideas are tightly coupled to their implementations. As a explanatory example, consider a very simple invention, the pencil. Once can explain the concept of a pencil in a single sentence : “A pencil is a writing implement usually …

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Thoughts on Scientific Research and Engineering Education

May 10

ASEE Northeast Section Conference May 7-8 2010 Summary

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by admin

I recently attended the Northeast Section ASEE conference in Boston, MA. While there were two full days of poster and oral presentations, there were a few that stood out as particularly profound to me. The following is a brief summary of the conference and these excellent presentations.

Theme The conference theme was “Education in the …

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Apr 19

A Conditional Mesh Front Iterator for VTK

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by admin

David Doria, “A Conditional Mesh Front Iterator for VTK“. The VTK Journal, April 2010

Region growing is a technique that can be used to propagate information over a mesh. In a previous submission, “A Mesh Front Iterator for VTK”, we introduced an iterator that can be used with vtkPointSet subclasses to traverse …

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Apr 09

A Mesh Front Iterator for VTK

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by admin

David Doria, “A Mesh Front Iterator for VTK“. The VTK Journal, April 2010

Region growing is a technique that can be used to propagate information over a mesh. We provide an iterator that can be used with vtkPointSet subclasses to traverse a mesh in a reasonable fashion. A “front” is emanated from …

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Mar 16

Graph Cuts Based Super Pixel Segmentation for VTK

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by admin

David Doria, “Graph Cuts Based Super Pixel Segmentation for VTK“. The VTK Journal, March 2010

Segmenting images into “super pixels” is lately a very hot topic. One implementation of such a technique is by Felzenszwalb and Huttenlocher. We propose a new class, vtkSuperPixelSegmentation, which has wrapped Felzenszwalb’s code (with permission) to provide …

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Mar 12

Poisson Surface Reconstruction for VTK

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by admin

D. Doria, A. Gelas, “Poisson Surface Reconstruction for VTK“. The VTK Journal, March 2010

This document presents an implementation of the Poisson surface reconstruction algorithm in the VTK framework. (This code was, with permission, adapted directly from the original implementation by Kazhdan, Bolitho, and Hugues. The original implementation can be found

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Mar 12

Stratified Mesh Sampling for VTK

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by admin

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 …

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Introduction to Image Processing – ITK Guest Lecture

Feb 18

Introduction to Image Processing – ITK Guest Lecture

Categories:

Lectures, Talks

by admin

ITK_Lecture_Radke_Image_Processing_Guest_Lecture

I prepared this talk to bring the capabilities of the ITK toolkit to the attention of a course of undergraduate electrical engineering students.

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Feb 17

A Voodoo Reader and Viewer for VTK

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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 …

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Feb 17

Using and Visualizing Projective Cameras in VTK

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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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Jan 31

Point Set Surface Reconstruction for VTK

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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 …

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Jan 31

A Leica PTX Reader for VTK

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David Doria, “A Leica PTX Reader for VTK“. The VTK Journal, March 2010

Leica LiDAR scanners output points in the PTX file format. It is often useful to convert this format to a standard VTK point cloud or mesh format before processing. We propose a new class, vtkPTXReader, to provide this functionality.

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Jan 28

A Wavefront OBJ Writer for VTK

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David Doria, “A Wavefront OBJ Writer for VTK“. The VTK Journal, January 2010

The Wavefront OBJ format is a common file format for storing mesh data. It is convenient to be able to write VTK data structures out into this format, as the data can then be used in software …

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Jan 01

A Synthetic LiDAR Scanner for VTK

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Magazines

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David Doria, “A Synthetic LiDAR Scanner for VTK”. The Kitware Source Magazine, January 2010

The Kitware Source is a quarterly magazine published by Kitware about their open source products. Each January they run a special issue which features the strongest submissions over the last 12 months. My work was featured in the

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Dec 09

RANSAC Plane Fitting for VTK

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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 …

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Dec 04

A Point Set Processing Toolkit for VTK

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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 …

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Technical Journals and Conferences

Oct 01

Consistency and Confidence: A Dual Metric for Verifying 3D Object Detections in Multiple LiDAR Scans

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We introduce a dual, physically meaningful metric for verifying whether a 3D model occupies a hypothesized location in LiDAR scans of a real world scene. We propose two complementary measures: consistency and confidence. The consistency measure uses a free space model along each scanner ray to determine whether the observations are consistent with the hypothesized …

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Sep 14

A Synthetic LiDAR Scanner for VTK

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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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Sep 01

Reading a PTX file into an itkMesh

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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.

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Aug 07

Region Growing Using a Criterion on the Region Boundary

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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 …

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