MATLAB CODE

pointCloud2mesh.m : Converts a pointcloud (unordered vertices) to a mesh of triangles by connecting the nearest 3 points and calculates the normal of each vertex and triangle. Also finds the neighboring triangles of each vertex and the neighboring triangles of each triangle.

pointCloud2rawMesh.m : Same as pointCloud2mesh.m but this one only outputs a mesh. Normals and neighbors of vertices and triangles are NOT calculated to save time. This is sufficient if you want to make a ply or a vrml file of the mesh.

icp.m : Implementation of the iterative closest point (ICP) algorithm.

icp2.m : ICP version 2. Removes one to many correspondences.

calcMeshNormals.m : Calculates normals of a mesh. A mesh is without normals if it is constructed using pointCloud2rawMesh.m or is read from a ply or vrml file.

makePly.m : Writes a mesh to a ply file (text format) wich can be read by PlyView from Cyberware and Scanalyze from Stanford University. Both are available for free.

readPLYfile.m : Reads a ply file (text format). ply files can be in binary format as well; this function can read ply files in txt format only e.g. created by makePly.m.

makeVRMLfile.m : Writes a mesh to a vrml 1.0 file (*.wrl) which can be read by web browsers with the righ vrml plugin.

readVRMLfile.m : Reads a vrml file created by makeVRMLfile.m.

makeSMFfile.m : Writes a mesh to an SMF file. SMF format is used by some mesh decimation softwares.

vrml2smf.m : Reads a vrml file and writes it to an SMF file. Requires makeSMFfile.m.

meshArea.m : Calculates the surface area of a mesh.

calcSpinImages.m : Calculates spin images of a mesh. Spin images are used for 3D surface registration and object recognition. A. Johnson and M. Hebert, "Using Spin Images for Efficient Object Recognition in Cluttered 3D Scenes", IEEE Trans. on PAMI, 1999.

eulerAngles2rotationMatrix.m : Calculates rotation matrix from Euler angles i.e. rotation about x, y and z-axis in degrees.

rotationMatrix2eulerAngles.m : Calculates Euler angles from rotation matrix.