20 Nov

Creating a Mesh from 3D point clouds

Cavan Stewart

One of the things I'm working on right now is setting up the environment of our unity simulation. This simulation will need to be a realistic representation of the track we are using. In order to achieve this we use an intel realsense camera to scan the track and generate a 3D point cloud. However Unity, the software we are using for our simulation, requires that we turn this point cloud into a mesh so we can preserve the textures and be able to implement collisions.

Here are the steps I took to generate this mesh:

  • In Autodesk ReCap I cropped the 3D point cloud to remove any unecessary background points to the track. Then I exported this point cloud as a .pts file
  • The software I used to create the mesh is MeshLab which does not support the .pts format for the points. I used the software CloudCompare to convert the .pts file to a .ply file
  • I then opened this .ply file in MeshLab and preformed the following actions
  • Filters > Normals, Curvatures and Orientation > Compute normals for point sets (this uses neighboring points to estimate surfaces)
  • Filters > Sampling > Poisson-disk Sampling (this selects a sample for the points to create the mesh in order to simplify the mesh)
  • Filters > Remeshing, Simplification and Reconstruction > Screened Poisson Surface Reconstruction (this converts the normals of the sampled points into a mesh)

Here is the final result: note: all the software I listed above is free

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