PolyApps - Version 1.0

Abstract

The polyApps software is an Umbra add-on C++ library that provides a polyhedral mesh library. Geometric shapes are defined by vertices, planes, edges, and faces. The library has a number of unique features that are useful for working with live scanners such as the SwissRanger. It includes a PolvApps multiple image texture casting capability that is compatible with the Umbra "Camera", and Umbra "lmageApps" class image connectors. The meshes are designed to be dynamic, allowing constant changing of their characteristics. Using these objects, live robot camera data can be cast onto arbitrary polygon meshes.