A proper pointcloud renderer like the one in ARCore?

[sarimmehdi]

Hello. I understand that there are other more important features that take priority but I was hoping for a PointCloud renderer to be integrated into SceneForm.

Currently, I manually project the point cloud onto the image using the camera projection matrix for each new frame. Since there are many points for each frame, I perform the task of computing the projections of all the points on a separate non-UI thread and then draw the 2D points on a custom view that I have overlaid on top of ArSceneView.

I get the feeling that this process could probably be done faster? In ARCore they use OpenGL to do this, as described here.

Right now, I just do the whole thing in Java. I create arrays out of the camera intrinsics matrix and projection matrix. Then, I create a separate array that represents the result obtained by multiplying the two to get the projection matrix and then multiplying that with a 4 by n matrix of points to get their projection. Is there a way this whole process could be integrated into Sceneform? I know there is a Matrix class but I was actually thinking of going the C++ route to make the whole thing super fast (probably with the help of a third-party linear algebra library).

[grassydragon]

Hi!
I have implemented the point cloud rendering using Filament and dynamically adding and removing the points from the scene. I render the points using unlit transparent spheres that look like points on the screen. I haven't encountered any performance issues with this implementation.

[sarimmehdi]

I imagine many people like me would be using this for research purposes and it would be handy for them to be able to plot a point cloud right out of the box without spending some time implementing it themselves.

[grassydragon]

For sure if you have a usage type sample because I don't see any other than for testing purposes.

I have only seen this in Measure by Google that unfortunately is no longer available. The point cloud is shown for a short time after the session comes to the tracking state. This creates a visual effect of the phone recognizing the real world environment.

[ThomasGorisse]

Ok. Let's put it in something like the PlaneVisualizer which can be enabled at the ArSceneView level.

arSceneView.pointCloudVisible: Boolean = false?

[sarimmehdi]

Hello. Just wanted to check. Has this been integrated into the current version of Sceneform?

[grassydragon]

Hi!
Sorry I didn't have time to do that and probably we will integrate it into SceneView since all new features will be appearing there.