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The tetrahedron mesh has 4 vertices and 4 triangle faces |
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The cube mesh has 8 vertices and 12 triangle faces |
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color1 = [0,1,0] and color2 = [1,0,0] |
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R_relative = [[0,1,0], [-1,0,0],[0,0,1]] T_relative = [0,0,0] Rotation along z-axis by 90-degrees; no translation |
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R_relative = [[1, 0, 0], [0, 1, 0], [0, 0, 1]] T_relative = [0,0,2] No Rotation; translation along z-axis by 2m |
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R_relative = [[1, 0, 0], [0, 1, 0], [0, 0, 1]] T_relative = [0.5,-0.5,0] No Rotation; translation along +x axis by 0.5 and -y axis by 0.5 |
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R_relative = [[0,0,1], [0,1,0],[-1,0,0]] T_relative = [-3,0,3] Translation along y-axis by 90-degrees; translation by 3 on -x and z axes (wrt T_0) |
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R_relative rotates the camera clock-wise or counter-clockwise along the specified axis and T_relative translates the camera position along the given axis/axes by the specified distance |
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5.1 Rendering Point Clouds from RGB-D Images 
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Rendering a mesh is faster than rendering a sufficiently dense point cloud (dense enough that the underlying structure is clear). The rendering time for a point cloud depends on the number of points sampled. The rendering quality of a point cloud depends on the number of points sampled - more sampled points creates a better point cloud. The rendering quality of a mesh is usually better than that of a point cloud (comparing a mesh of a given fixed resolution and it's corresponding point cloud; though in general the quality of a mesh itself also depends on whether it is a high-poly or low-poly mesh). The memory usuage for a mesh is typically lesser than that of a point cloud - as we sample a large number of points, we need to store a large number of (x,y,z) coordinates. In case of a mesh, the number of vertices and faces are usually less and require less memory than point cloud. The ease of use depends on the use case - while polygonal meshes are better suited for graphics applications, point clouds are better suited for an application involving part-wise segmentation and texturing of a mesh. (A mesh is convereted into a point cloud before part-wise segmentation) |
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Both the chair and the teapot meshes taken from Free3D. I tried making the teapot transparent using Materials and BlendParams but varying the gamma did not result in noticable or visible transparency and so decided to create like a poreclain kind of look for the teapot. |
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