high performance computing on graphics processing units: hgpu.org

In this paper we present a compression scheme for large point scans including per-point normals. For the encoding of such scans we introduce a particular type of closest sphere packing grids, the hexagonal close packing (HCP). HCP grids provide a structure for an optimal packing of 3D space, and for a given sampling error they result in a minimal number of cells if geometry is sampled into these grids. To compress the data, we extract linear sequences (runs) of filled cells in HCP grids. The problem of determining optimal runs is turned into a graph theoretical one. Point positions and normals in these runs are incrementally encoded. At a grid spacing close to the point sampling distance, the compression scheme only requires slightly more than 3 bits per point position. Incrementally encoded per-point normals are quantized at high fidelity using only 5 bits per normal. The compressed data stream can be decoded in the graphics processing unit (GPU). Decoded point positions are saved in graphics memory, and they are then used on the GPU again to render point primitives. In this way we render gigantic point scans from their compressed representation in local GPU memory at interactive frame rates.