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料 2-1 料料 x, y, z 料不不料濾料不料料不料錄料 2-1 a 料 2-1 b 2003 a 料 b 料 2-1 料 2003 料料行料濾料亂濾料料滑料理料 2001 料兩理料不 TIN, Triangular Irregular Network 8

2-2 a 數量料便精 2003 料行理料立狀連料狀立料索料料更料料料理理率不 2-2 b 來料 1999 a. b. c. d. 理不理率 e. 不良流領 (RP, rapid product) 3D 都不勞 Delaunay Triangulation 理論 1999 2003 9

a b 不 2-2 料 2-2 Scanalyze Optech ILRIS- 3D Optech, 2004 料 PIF Scanalyze PLY 理 Scanalyze Stanford Computer Graphics Laboratory 離 polygon mesh SCGL, 2003 數朗羅羅雷朗羅行 Scanalyze 3D Scanalyze 理 triangle-mesh PLY *.ply range-grid PLY *.ply SD *.sd triangle-mesh PLY triangle-mesh 連列 range-grid PLY SD 列料 SD 了 Scanalyze 來不 PLY SD 讀料行 ICP Iterated Closest Point Rusinkiewicz, 2001 Besl & Mckay, 1992 兩料 All-Pairs Align 行 Global Registration 10

料不累料 4x4 *.xf SD range images 料 PLY 了離 mesh 料 Scanalyze 理兩類料料離利 VRIP volumetric range image processing Curless, 1996 料 seamless mesh PLY Scanalyze 1. polygon meshes range images 料不 solid wireframe 料 2. polygon mesh 量 3. 不 ICP global registration 4. 利 VRIP range image 2-3 PLY 2-3-1 PLY PLY Polygon File Format 連串錄料量 PLY x, y, z 來 element PLY element 列 property PLY PLY 行立 element 利 property 來 element edges cell lists of pointers to faces materials PLY 2004 11

element property element <element-name> <number-in-file> property <data-type> <property-name-1> property <data-type> <property-name-2> property <data-type> <property-name-3> element 數利 property 料列 x, y, z 列例 element vertex 8 property float x property float y property float z 0 0 0 0 0 1 0 1 1 0 1 0 1 0 0 1 0 1 1 1 1 1 1 0 property 料 2-1 property 料 Name Type Number of Bytes char character 1 uchar unsigned character 1 short short integer 2 ushort unsigned short integer 2 int integer 4 uint unsigned integer 4 float single-precision float 4 double double-precision float 8 12

PLY Header 列 Vertex List 列 Face List vertex 數說 ASCII binary comment ply end_header cube PLY 例 ply format ascii 1.0 { ascii/binary, format version number } comment made by Greg Turk { comments keyword specified, like all lines } comment this file is a cube element vertex 8 { define "vertex" element, 8 of them in file } property float x { vertex contains float "x" coordinate } property float y { y coordinate is also a vertex property } property float z { z coordinate, too } element face 6 { there are 6 "face" elements in the file } property list uchar int vertex_index { "vertex_indices" is a list of ints } end_header { delimits the end of the header } 0 0 0 { start of vertex list } 0 0 1 0 1 1 0 1 0 1 0 0 1 0 1 1 1 1 1 1 0 4 0 1 2 3 { start of face list } 4 7 6 5 4 4 0 4 5 1 4 1 5 6 2 4 2 6 7 3 4 3 7 4 0 13

2-3-2 GRID Scanalyze 說 PLY 1. column row 數 grid 數列 x, y, z range grid 若 cell 1 若 0 ply format ascii 1.0 obj_info num_cols 3 column 數 3 obj_info num_rows 3 row 數 3 element vertex 9 數 9 property float x property float y property float z element range_grid 9 range grid cols rows property list uchar int vertex_indices end_header 000 { start of vertex list } 1 0 0 2 0 0 0 1 0 1 1 0 2 1 0 0 2 0 1 2 0 2 2 0 10 11 12 1 3 1 4 grid cell 若 cell 1 5 1 例數 0~8 1 6 1 7 1 8 14

PLY 2-3 a 2-3 b a PLY Grid b PLY 2-3 PLY 例 2. 例 0 數 8 ply format ascii 1.0 obj_info num_cols 3 obj_info num_rows 3 element vertex 8 數 8 property float x property float y property float z element range_grid 9 property list uchar int vertex_indices end_header 0 0 0 1 0 0 15

2 0 0 0 1 0 2 1 0 0 2 0 1 2 0 2 2 0 1 0 1 1 1 2 1 3 0 14 1 5 1 6 1 7 PLY 2-4 a 2-4 b a PLY Grid b PLY 2-4 PLY 例 16

3. 例 0 數 8 ply format ascii 1.0 obj_info num_cols 3 obj_info num_rows 3 element vertex 8 數 8 property float x property float y property float z element range_grid 9 property list uchar int vertex_indices end_header 0 0 0 1 0 0 2 0 0 0 1 0 1 1 0 2 1 0 0 2 0 1 2 0 1 0 1 1 1 2 1 3 1 4 1 5 1 6 1 7 0 17

PLY 2-5 a 2-5 b a PLY Grid b PLY 2-5 PLY 例 2-3-3 2-3-2 論 1. GRID 例 vertex PLY 2-6 PLY 例 2. GRID 例數 18

數 2-7 PLY 例理數數 2-8 PLY 例 PLY 不行連狀 cell 離離便 3. PLY range_grid 列 0~8 PLY 列列 6 7 8 3 4 5 0 1 2 4. PLY grid 都來行 2-7 2-8 2-4 PIF 2-4-1 參數 PIF Parametric Image Format 參數 3D parametric images 參數 3D surface mesh 參數 PIF 了 19

參數 InnovMETRIC, 2003 2-9 a 2-9 b 參數 2-9 a b 2-9 參數 InnovMETRIC, 2003 參數 raw parametric image 量錄了 x, y, z PIF 參數兩料不列錄 2-10 a 錄 2-10 b a 不列 b 2-10 參數 InnovMETRIC, 2003 論列錄 20

2-11 參數參數 interpolated parametric image 2-11 InnovMETRIC, 2003 2-4-2 PIF PIF Data Coordinate System, DCS Intermediate Coordinate System, ICS 參數 Interpolated Parametric Image Coordinate System, IPICS DCS x, y, z 參數來都立 Align, Register 參數來錄若參數 ICS Z 量若 ICS Y 參數 IPICS 例參數參數參數參數 parameterization 參數 x, y, z 參數 i, j 參數錄數 f i, j x, y, z 若參數 i, j = x, y 21

f i, j = z 2-12 a 若 i atan x = z 2-12 b f i, j = x + y j = y ( ) 2 2 a b 2-12 參數 a b InnovMETRIC, 2003 IPICS 數 f 參數 i, j 參數來錄參數論參數離 1 2-13 2-13 IPICS InnovMETRIC, 2003 22

列流來參數 M DI 2-14 流 InnovMETRIC, 2003 4x4 M r1 r2 r3 t r r r t 4 5 6 y DI = r7 r8 r9 tz 0 0 0 1 DCS ICS x xics xdcs y ICS x DCS = M DI z ICS x DCS 1 1 2-1 2-2 i, j 參數兩度 i_ scale j _ scale 來參數度 i = i/ i_ scale s j = j/ j_ scale s 2-3 流 ICS DCS 23

xdcs xics y DCS x ICS = M ID z DCS x ICS 1 1 i = i i_ scale j = j j_ scale ICS x, y, z x = i y = j 參數 (, ) z = f i j ( ) x = f i, j sini y = j ( ) z = f i, j cosi 參數 2-4 2-5 2-6 2-7 2-15 流 InnovMETRIC, 2003 2-4-3 PIF PIF header 錄說 PIF 錄 PIF 列 i j 參數度 24

struct header { char format_version[64] char user_comments[128] char dummy1[8] long image_param_flag long image_data_type float invalid_point long array_width long array_height long data_block_length long scale_flag float i_scale float j_scale long transfo_matrix_flag double transfo_matrix[16] long image_color_flag long color_block_length long camera_position_flag float camera_x float camera_y float camera_z long dummy2[30] } 參見錄 3D data image_data_type 識若 image_data_type 0 data block 來錄 IPICS 列參數列料列度度 array_width array_height 4x4 列例錄列 12 13 14 15 8 9 10 11 4 5 6 7 0 1 2 3 25

若 image_data_type 1 data block 列錄 DCS x, y, z 來參數列 x, y, z 錄列若 image_data_type 2 data block 兩串 strings 串錄來路串錄 corresponding polygon image_color_flag image_color_flag = 0 PIF image_color_flag = 1 PIF image_color_flag = 3 PIF RGB 26