0 You can click twice on an image to see it. homogenously distributed noisy sparse point cloud, Poisson surface re- the mesh. If you want it to be offline process you can Use meshlab like software export to 3d formats triangulated and load it in opengl application. The 3D Toolkit is a collection of programs that allow working with 3D point cloud data. Software Vendor (Point Cloud) Surveying Services Training & Health and Safety UaI (Universities and Institutes) Utilities - (Power, Water, Renewable). Is it because the pcd file too large? And is there any other way to convert the point cloud to opencv mat. Using Python code, we are getting the point cloud from a D435 capture but it is filtering out some points (presumably those with NaN values) and results in a data set that is not complete. So I try and make an OpenCV Mat. 5 on a sphere). hal-01097361. Fast triangulation of unordered point clouds. Perform depth-map fusion directly into the mesh. OpenCV simplified for beginners by the use of examples. This will allow for stereo mixed-reality in future updates. The stereo matching for us is actually quite straightforward, because there is already demo code available for this task in OpenCV. in Nishit Soni hiteshkumar. PCL-ROS is the preferred bridge for 3D applications involving n-D Point Clouds and 3D geometry processing in ROS. But I have no background in robotics and do not know anything about Point Clouds. Recommend：c++ - How to project point cloud onto the ground plane and transfer it into an 2D image (OpenCV Mat) in Point Cloud Library e written OpenCV for 2 years and find it's really hard to segment the stones only using OpenCV RGB picture, so I use kinect fusion to scan the ground and get a point cloud, in which the stones is higher than the ground. Some important specs for our system include its 1. (see readme for install details, FAQ and more). Mesh Conversion Utility:. The first step of the registration is to create a rough initial mapping. Get depth map from disparity map. Command line DOS executable for direct comparison of plys files. answers no. - POSIX C Unix drivers programming - Image processing algorithms implementation in plain C, SIMD, fixed-point and DMA perfomance optimizations for embedded target platforms. Created by Charles R. Description. In order to do this, the point clouds need to be transformed according to the estimated position of the camera at the moment each frame was captured so. maddog - M Larry Bank (sigh) I understand your point, but we are trying to address that through the program I am working on. The lag is actually caused by the Face Detection part of the system because this system runs on the. 폴리곤 메시(polygon mesh)가 점과 면으로 이루어져 있는 반면, point cloud는 점으로만 이루어져 있다. Mimics is an acronym for Materialise Interactive Medical Image Control System. erated point clouds are -coregistered with the model with an adapted IterativeClosest–Point-Algorithm - (ICP). VTK_DIR C:Program FilesVTKlibcmakevtk-7. AliceVision aims to provide strong software basis with state-of-the-art computer vision algorithms that can be tested, analyzed and reused. I used code from OpenCV tutorial for Intel Media SDK backend. Working in the field of Medical Deep learning. OpenCV Plusの導入 OpenCV + Unity が追加されていればOK 71. Depth map (or height map?) mesh generation using SceneKit. Goal: Evaluation of tools and method establishment for DTM from stereo data Sub goal-1: Evaluation of tools for DTM from stereo data • All the available tools (10-15 in number)are to be analyzed and generate DTM for a given cartosat-1 stereo data • Literature Study report on “Evaluation of tools for DTM from stereo data” Sub goal-2. Do not expect better performance than 0. Is it because the pcd file too large? And is there any other way to convert the point cloud to opencv mat. Regard3D works fine. de Abstract Plane detection is a prerequisite to a wide variety of vision tasks. Also, Visit our website to know more about our services at. What is my next step to get list of (x,y,z) points to draw the mesh. The Open3D frontend exposes a set of carefully selected data structures and algorithms in both C++ and Python. The shell created in STL is what the cutting machine slices. Goal: Evaluation of tools and method establishment for DTM from stereo data Sub goal-1: Evaluation of tools for DTM from stereo data • All the available tools (10-15 in number)are to be analyzed and generate DTM for a given cartosat-1 stereo data • Literature Study report on "Evaluation of tools for DTM from stereo data" Sub goal-2. Use OpenCV to detect bounding boxes of face, eyes and nose. I need point cloud point for that. Again due to object properties, the models cannot be generated with this scanner for objects 23, 39, 46, 47 and 63-c-f, and a partially distorted model is generated for object 22. Programming Languages. Open Source Computer Vision This class wraps mesh attributes, and it can load a mesh from a ply file. Fit & Register 3D Objects/Poses with Model (libpcl segmentation). Delaunay Triangulation For Fast Mesh Generation. Open3D provides conversion from NumPy matrix to a vector of 3D vectors. While developing communication solutions for the NASA Space Robotics Challenge and its limited bandwidth (team Olympus), we investigated the possibility to convert point clouds to range images and back-- PCL <----> OpenCV. Detailed Description. 改写完上述源代码后保存，并且用 CMake 和 VS2008 重新编译一次 OpenCV，我们就可以用 OpenCV 的接口来控制 Kinect 深度摄像头的视角，使其深度数据和图像数据能够很好的重合起来，如图2所示，注意与图1相比，右上角的伪彩色视差图四周出现了黑边，这就是视角调整. PointsClouds Generated by Reporjectimageto3D is So Bad. It is developed in an ISO environment with CE and FDA 510k premarket clearance. pixel size) in respect to point cloud density, many pixels might not be assigned any color value (Fig. I only have a single RGB camera that I can move in 4 degrees of freedom (x, y, pitch, yaw). The first stage fitting involves piecewise smooth deformation of the mesh, whereas the second stage does a finer fit using an iterative Laplacian framework. It provides a streamlined workflow for the AEC industry. Merging several point clouds or triangle meshes into a. 4 Multi View Stereo. js entity to insert in the scene is named THREE. py in OpenCV-Python. This wasn’t any old math book; it told of the weird side of math— the side that contained fractals and mobi. Algorithm for generating a triangular mesh from a cloud of points 3 answers Plotting a surface from a set of interior 3D scatter points in MATLAB 2 answers I am trying to create triangle mesh from point cloud. You can use this library: Point Cloud Library (PCL). Create a polygonal mesh representation of the object using the point cloud. a point cloud which is used to calculate a triangular mesh which describes the objects detected by the SceneAnalyzer node (object_cloud_) The 11th-13th lines and the 39th-44th lines in the code shown below are related to the SceneAnalyzer node. New address, same Unity3d. Perform depth-map fusion directly into the mesh. Android, Tegra 3, OpenCV and PCL Libraries 1. - Programming, debugging and adding new features in applications. Sunil has 3 jobs listed on their profile. It mainly focuses on image processing, video capture and a. convert point cloud to surface. Recontruction by Triangulation. answers no. The ﬁrst image shows a raw SfM point cloud with background points. ROS Answers is licensed under Creative Commons Attribution 3. The optimal transformation parameters maximze the Maximum A Posteriori (MAP) estimation that the observed point cloud. Hi Im trying to detect edges from a point cloud using segmentation and I know that one way of doing this is by normals. pcl_mesh2pcd, pcl_mesh_sampling. OpenCV is a very popular and powerful image processing library written in C/C++. - Embedded C. This is a bare bones representation, as Unity + Point Cloud Viewer Free can only handle a hundred or two frames of animation right now before hitting memory issues, (point clouds are big!) and it’s all still in point cloud form rather than the cleaner/intended textured meshes, but the data is all there. Once the mesh is built we can disable the point cloud. de Abstract Plane detection is a prerequisite to a wide variety of vision tasks. After browsing the ROS packages for a while, I stumbled upon the package pcl_point_cloud2_image_color which seems to. If time allows, merge multiple point clouds to obtain a full 360 degree representation of the object. , 2010), and the point clouds represents the whole area of interest The obvious shortcomings of the. OpenCV Plusの導入 OpenCV Plusをクリック 67. Each point cloud is segmented into planar surfaces. Checked against Meshlab and Geomagic and produces similar metrics. Microsoft's Kinect Fusion. Qi, Hao Su, Kaichun Mo, Leonidas J. Project color cloud into rgb image. Introduction to using synchronized RGB and Depth videos to create a point cloud - UFSEC/opencv_point_cloud_tutorial. If you just have a video of a scene from on point. Frequently many such point cloud samples of a single scene are taken from different locations and viewing angles, and it is desirable to be able to use all of this information together to resolve the. votes viz3d--Viewing and Rendering time varying 3D point cloud. Again due to object properties, the models cannot be generated with this scanner for objects 23, 39, 46, 47 and 63-c-f, and a partially distorted model is generated for object 22. Download Anaconda. Thanks for bringing this to my attention. I am importing the point cloud which has color associated to the vertices. The task is to be able to match partial, noisy point clouds in cluttered scenes, quickly. The 1280x720 resolution should result in 921600 points but ours is typically around 800000-900000 points. - Coordinating with UI designers, 3D modelers, and animators. From left to right are the input point cloud, Delaunay tetrahedra, the s-t graph, the energy minimization result and the final surface mesh. python examples/position_example. A wrapper around the OpenCV HighGUI cv_mech_turk viewer. Closest Point (ICP) [2, 4] to align the scans, allowing a precise measure-ment of the distortion between the point clouds Figure 2: Left: Ground truth models obtained by a professional Artec scanner. I ran exactly the same commands, maybe some environment variable is not set correctly ?. Software Vendor (Point Cloud) Surveying Services Training & Health and Safety UaI (Universities and Institutes) Utilities - (Power, Water, Renewable). With Open3D, the library enables developers to work with 3D models and point clouds. ottersten}@uni. ROS Answers is licensed under Creative Commons Attribution 3. I also have a (x,y,z,c) point cloud near that surface where c represents a protein concentration (proportional to image intensity). Guibas from Stanford University. In the same folder where you've saved the above image, create a new file demo. The Point Cloud Library has a couple of different command-line tools for turning meshes into point clouds, as far as I know by rendering the object into points from a set of views and combining the renderings. the OpenCV computer vision library is incorporated giving simple blob and object detection and. It doesn't quite allow for inward dents in the surface. It is also not desirable to generate a measured point cloud directly from the observed model vertices, since we desire the point cloud to describe where the sensor would actually sample the surface rather than simply where the model happens to have mesh vertices. SHOP NOW Cloud managed switches that integrate seamlessly with Open Mesh access points and Cloudtrax Switches. PDF | This paper presents a novel approach to estimate the human pose from a body-scanned point cloud. 2D [R G B] 3D Textured Surfaces (point cloud) 3. Decided to focus on industrial applications. f) spline representation of crease pattern Abstract. PointsClouds Generated by Reporjectimageto3D is So Bad. All these Point Clouds are then stitched using Iterative Closest Point Algorithm. In this post, we are going to calculate the number of incidents. You can also use these meshes to quickly project the 2D sequence onto the mesh using the Project3D node. reprojectImageTo3D not working for CV_16U. Examples (We encourage you to try out the examples by launching Binder. This tutorial explains how to run a greedy surface triangulation algorithm on a PointCloud with normals, to obtain a triangle mesh based on projections of the local neighborhoods. warpPerspective function. I have exported a point cloud of a mountain from PFTrack as a. There are various open source programs, such as Blender 20 or MeshLab 21, which allow a point cloud (PLY) to be converted into a mesh (an STL 22 file). OpenCV Plusの導入 OpenCV + Unity が追加されていればOK 71. Take a screenshot of your favourite scene. Output is a color point cloud (pc) in PLY format. See the complete profile on LinkedIn and discover Haiwei’s connections and jobs at similar companies. If head is not placed centrally in a video, will I need to translate image points to origin ? How to do that ? Ehci subtracts 160x/120y on every image point for resolution 320*240. Animated GIF for better depth perception. Reflect points into 2D image. I also already can move the camera in a circle around the object based on these 4 DOF while it permanently points towards (looks at) the object. Sometimes, I do this in VRMesh studio (denoise function). This section describes 3D visualization window as well as classes and methods that are used to interact with it. It is basically an array/a vector of points (each containing x,y,z coordinates for each point and possibly more information). Hi Im trying to detect edges from a point cloud using segmentation and I know that one way of doing this is by normals. Anaconda Community Open Source NumFOCUS Support Developer Blog. Structure from Motion and 3D reconstruction on the easy in OpenCV 2. I only had a couple days to do this so it's not perfect, I wish i would have added in something like marching cubes to turn the point cloud into a mesh. And we've performed perspective warping and transformations using the cv2. Once the mesh is built we can disable the point cloud. When you fabricate a mesh procedurally in Unity, you will be putting it into the. Given, for example, two meshes — a reconstructed mesh and a reference mesh — a pre-defined number of points is sampled uniformly on both meshes. [email protected]
Main branches are constructed by converting a 2D sketch into 3D using the point cloud as shape guidance. Nov 20, 2013- Explore mikevartanian's board "OpenCV" on Pinterest. js entity to insert in the scene is named THREE. Hi guys, I'm working on a new. The ZED SDK is now composed of different modules: Video, Depth, Positional Tracking and Spatial Mapping. js library. 폴리곤 메시(polygon mesh)가 점과 면으로 이루어져 있는 반면, point cloud는 점으로만 이루어져 있다. All these Point Clouds are then stitched using Iterative Closest Point Algorithm. Animated GIF for better depth perception. If you want to get a denser point cloud, you can run: bin/opensfm undistort data/berlin bin/opensfm compute_depthmaps data/berlin This will run dense multiview stereo matching and produce a denser point cloud stored in data. OpenSfM and OpenDroneMap could be used as an alternative for the VisualSFM & CMPMVS process. Gradient meshes can compactly represent smoothly changing data, and are typically. English (United States) 日本語 Why will not use Kinfu? Kinfu is clone project of Kinect Fusion that included in PCL. It has been development since before Kinect Fusion was included in Kinect SDK. The mesh was decimated, and the faces were removed so that only the points remained. Remember that positive angle is counter-clockwise It is common to use the cv::Point types for points in C++ code that uses OpenCV. Reflection. load projector via perspective from calibration-file and load it (I imported a mesh from the object too) it works: and it doesn't: Why is the projector's perspective totally wrong?. Qhull implements the Quickhull algorithm for computing the convex hull. The pcl_io library contains classes and functions for reading and writing point cloud data and capturing from OpenNI-compatible depth. 5: October 26, 2019 How are you managing multiple addons with the same name? beginners. reprojected points form cone shape. ªNeed to be adapted to specific environment. The last step is visualizing the triangulated 3D real-world points. So, the output mesh was converted from mesh (. RANdom SAmple Consensus (RANSAC) algorithm is widely used for plane detection in point cloud data. We have demonstrate this method on a variety of examples. Hi, Please help me to solve my task. Is there an elegant way to do this?. As a starter, if they don't have anything specific to fit against a polygon mesh, you can treat the mesh vertices as another point cloud and fit your point cloud against it. In order to do this, the point clouds need to be transformed according to the estimated position of the camera at the moment each frame was captured so. a point cloud which is used to calculate a triangular mesh which describes the objects detected by the SceneAnalyzer node (object_cloud_) The 11th-13th lines and the 39th-44th lines in the code shown below are related to the SceneAnalyzer node. The Software - A Brief History MAP-Tk / TeleSculptor. I need point cloud point for that. There is no CUDA hardware acceleration of the process at this point, it’s just done on one of the ARM cores. When building mobile apps, it's easy to forget about the moments when your users lack a good Internet connection. It is developed in an ISO environment with CE and FDA 510k premarket clearance. Experienced R&D Software Engineer with a demonstrated history of working in the industry. But when it comes to situations that require linear algebra calculations especially matrix operations (e. The point cloud may be used in many fields, such as 3D modeling, 3D gaming, VR apps, etc. The thesis describes a method for scanning the environment and its implementation for common CPUs and GPUs. A 2D surface is made up of pixels, a point cloud is made up of points (x,y,z). from any kind of images not necessarily Drone images. 3D reconstructed models can be downloaded with standard formats or previewed directly on the web browser through an embedded visualisation interface. There is no example about converto3dray on Google, may be I should use OpenGL instead of VIZ ?. Result is 300K point cloud. At the same time, I also import a raster of the associated RGB image. Currently, I'm working on real time full body motion tracking fore VR/AR. I am importing the point cloud which has color associated to the vertices. 1 BUILD_opencv_viz ☑(check) WITH_VTK ☑(check) Drawing Point Cloud retrieve from Kinect v2 using OpenCV Viz module This sample program is published in following. View point step: View point step for keyboard input. You most probably didn't hear about OpenMVS, so please allow me to present it throughout this small tutorial. The Point Cloud Library (PCL) developer blog represents a great way to keep track of daily updates in PCL sponsored code sprints. So, the output mesh was converted from mesh (. Two point clouds produced with images_to_pointcloud. Search for jobs related to Opencv mesh or hire on the world's largest freelancing marketplace with 16m+ jobs. 11) Download: See Github repository here. This is another fast scan with higher rotation speed. But I have no background in robotics and do not know anything about Point Clouds. Currently, I'm working on real time full body motion tracking fore VR/AR. It includes automatic high-accurate registration (6D simultaneous localization and mapping, 6D SLAM) and other tools, e. [C++, OpenCV, PCL, OpenMesh, Trimesh, JMeshLib, MeshLab, vcgLib] Used raw point cloud data in PCL to 3D reconstruct a mesh model. It doesn't quite allow for inward dents in the surface. This project was originally entered in HackPSU 2016 and received second place overall. I implemented example, provided with opencv and I have am stuck with one issue: pointclouds I get are somehow spreaded across Z line, when I do reprojectImageTo3D for my diparity map. Sadly I must admit I underestimated a big part of this task: I now wish to automatically align the image versus the point cloud based on these reference points and project the image onto the point cloud or mesh. Finally, we propose a point cloud segmentation technique based on surface normal estimates and local point connectivity. opencv stereoMatch BM SGBM 2017-01-13 15:05:07 vampireshj 阅读数 1995 之前在网上也没有现成的代码，现在把库中的sample拿出来，分享下. Here is demo code to get the camera data to OpenCV as well as Point Cloud Library. (b) Fitted ellipse using OpenCV (Brad- sity and a significantly reduction of the points to be ski and Kaehler, 2008). ªNeed to be adapted to specific environment. AliceVision is a Photogrammetric Computer Vision Framework which provides a 3D Reconstruction and Camera Tracking algorithms. Our claim is that a relational description for classes of 3D objects can be built for robust object categorization in real robotic application. The interesting thing for LiDAR professionals is that the viewer is compiled with support for reading and displaying LiDAR LAS files. But when it comes to situations that require linear algebra calculations especially matrix operations (e. If this ray intersects the cloud mesh in any point, either further away or closer than the original vertex was, we move. Anaconda Community Open Source NumFOCUS Support Developer Blog. a kinect or an xtion), an I am trying to use it for creating a textured mesh. Wongwaen Image Technology Lab National Electronics and Computer Technology Center Pathumthani, Thailand nonlapas. cloud : the input point cloud dataset containing the XYZ data : normals : the input point cloud dataset containing the normal data : pcs : the input point cloud dataset containing the principal curvatures data. You can open PLY files with CAD software like Autodesk products or an open source sofware like Meshlab. 6x or later and allows you to create a surface from just a cloud of vertices. once you have a. transformation), the writer finds OpenCV library to be convenient. Is it possible to produce point cloud data using openCV? If yes then is there any help available for this?. Pro PointCloud 2 - Retail Installer Download (All files checked against 50+ virus scanners at virustotal. It doesn't quite allow for inward dents in the surface. See more ideas about Raspberry pi camera, Computer vision and Raspberry pi projects. If time allows, perform post-processing techniques on the point cloud/mesh to display a more accurate scan. , a fast 3D viewer, plane extraction software, etc. , 2010), and the point clouds represents the whole area of interest The obvious shortcomings of the. View LiDAR LAS files with CloudCompare's ccViewer I found this new open-source software CloudCompare for 3D point cloud and mesh processing, which comes along with a light weight viewer ccViewer. Grabbing point clouds from DepthSense cameras Title: Grabbing point clouds from DepthSense cameras. Fit & Register 3D Objects/Poses with Model (libpcl segmentation). Can I generate Point Cloud from mesh? 3d,mesh,maya,point-clouds,meshlab. [email protected]
Description. A faster alternative if working on range images instead of 3D point clouds is the NARF operator that is a widely used for key point extraction and description in the robotics commu-nity [40, 39]. Several packages are available for visualization of point clouds, notably MeshLab, Cloud-Compare and the Point Cloud Library (PCL) which integrates nicely with OpenCV. 2D [R G B] 3D Textured Surfaces (point cloud) 3. At the same time, I also import a raster of the associated RGB image. corresponding values of point clouds between two different clouds with a given or reference or feature point cloud object. Meet the Developer Who Took Stack Overflow from Screen to Stage. Goal: Evaluation of tools and method establishment for DTM from stereo data Sub goal-1: Evaluation of tools for DTM from stereo data • All the available tools (10-15 in number)are to be analyzed and generate DTM for a given cartosat-1 stereo data • Literature Study report on “Evaluation of tools for DTM from stereo data” Sub goal-2. Inserting calibrated and oriented images (cameras) in JRC 3D Reconstructor than can be re-projected in real time (see Camera Reprojection tutorial) and used for texture mapping (see Texture Mapping tutorial) 3. Decided to focus on industrial applications. The stereo matching for us is actually quite straightforward, because there is already demo code available for this task in OpenCV. Hi folks, after a while I'm back with a new project, a camera system that's purpose is to scan and classify an object by somehow moving around it. py svo_file. Point cloud processing : extensive experience with point cloud data formats including generation, optimisation and data extraction. However, if you have x, y and z data in a vector, this post might help you. Projector calibration, camera calibration, output data and other related codes, complete does not need to be changed Projector calibration, camera calibration, output data and other related codes,. The Point Cloud Library (or PCL) is a large scale, open project  for 2D/3D image and point cloud processing. cloudcompare. The original mesh is contained in OLDmesh. We will investigate. So what we did in last session? We used a queryImage, found some feature points in it, we took another trainImage, found the features in that image too and we found the best matches. IS there really no 3D mesh algorithm available for processing?! It seems like the most basic way to render a 3D model. /** * Demo program for the SR4k that shows the output (DepthImage and PCL) and can export these as images. We also compute tha bounding box around the large contoured mass and draw a point in the top-left, top right, bottom left and bottom right of the mass. Well, I have ever used OpenCV for roughly two years. RunSFM -> Point cloud from PMVS -> Meshlab -> TextureMesh-> ViewMesh or MeshLab The end result can be seen in this video. Open3D is an open-source library that supports rapid development of software that deals with 3D data. Would you know any existing code to extract the center line of a mesh or a point cloud? The center curve of a mesh is equidistant to its boundaries. So, i have 640*480 points in the 3D space and, for viewing purpose, i would like to generate a mesh composed of triangles. OpenCV - Overview - OpenCV is a cross-platform library using which we can develop real-time computer vision applications. Mesh sample shows mesh information after filtering and applying texture on frames. Edit the point cloud Right click layer > Delete current mesh Import mesh - import VirtualSFM point cloud (models/option-0000. Ball detection is pretty easy on OpenCV. I need point cloud point for that. In this manner, any similar data structure such as open3d. Open3D has the following features: Basic 3D data structures. before merging is raw result with region-growing and segmentation merge small regions into representive regions as main regions. Basically what it does is to generate terrain / height map using given depth map. 3+ [w/ code] Hello This time I'll discuss a basic implementation of a Structure from Motion method, following the steps Hartley and Zisserman show in "The Bible" book: "Multiple View Geometry". Kinect constructs a Point Cloud Mesh of all different frames of the room. Large Noisy Point Clouds Using Filtered Normals and Voxel Growing Jean-Emmanuel Deschaud, François Goulette To cite this version: Jean-Emmanuel Deschaud, François Goulette. OpenCV provides the solvePnP() and solvePnPRansac() functions that implement this technique. But, the point cloud that reconstructed using Kinect Fusion is unorganized point cloud data. This section shows how to open the camera in Matlab and display the raw (unrectified) video feed. 320x240pixel 30fps And OpenCV for basic image processing. The sequence of images will be generated using CGI to. I am importing the point cloud which has color associated to the vertices. Imported Raster is misaligned with point cloud data I have a 3D camera (e. org to learn more and there is a special page (opencv. ply file that can be imported to meshlab / blender. Regist Point Cloud (3D mesh) with pre-built 3D-model, by RANSAC and ICP. The plugin makes extensive use of the existing Rendering and Mesh plugins provided out-of-the-box in Workspace. , 2010), and the point clouds represents the whole area of interest The obvious shortcomings of the. When building mobile apps, it's easy to forget about the moments when your users lack a good Internet connection. Building VTK with Visual Studio OpenCV入門 (3) OpenCVの環境構築 | Build Insider The CMake settings for enabling Viz module are as follows. We have demonstrate this method on a variety of examples. Depth map and Point Cloud can also be saved into files. So I try and make an OpenCV Mat. Tiendee Department of Computing Faculty of Liberal Arts and Sciences, Kasetsart University. Click Point cloud to mesh from the Resurf menu or type RsPointCloud2Mesh at the Rhino command prompt or click icon at RhinoResurf toolbar. Basically what it does is to generate terrain / height map using given depth map. It uses the Kinect API, OpenCV Library in C++. One of the most requested tasks when managing 3D scanning data is the conversion of point clouds into more practical triangular meshes. a dense point cloud is reconstructed from matching points (bottom left), ﬁnally a textured mesh is produced (right).