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About XGRT

XGRT is an object oriented software system for rapid prototyping of graphics applications that has been used in several research projects. It is implemented in C++ based on the platform independent QT4 GUI library. The software is open source (GPL) and can be downloaded below. The system consists of an object oriented base layer, which is application independend, and an interactive 3D editor. The 3D editor currently provides the following features

  • Real-time rendering and editing of arbitrarily large point clouds, size is only limited by available hard disk space (out-of-core visualization and editing).
  • Modular scene graph architecture that supports point clouds, triangle meshes, and volume data.
  • Supports the most common graphics exchange formats (VRML, OBJ, SMF, PLY, OFF, BMP, JPG, PNG, universal configurable ASCII & Binary importer, ASCII export).
  • Attribute channel architecture: Arbitrary point / vertex / face / volume attributes, run-time configurable.
  • Flexible rendering architecture: Run-time programmable hardware shaders (shader input is bindable to user attribute channels).
  • Hardware accelerated global illumination rendering: Ambient occlusion, shadow mapping, environment mapping.

The system is highly modular and extensible. The main focus is rapid prototyping of research ideas, the system has not been designed as an end user application. It comes with no support and no warrenties.


Download & Documentation

  • Downloads - Windows installer and source code
  • XGRT Tutorials - User documentation, getting started
  • XGRT Modules - Description of the different modules for developers (object oriented kernel, math, geometric data structures, multi-resolution data structures, editor)
  • XGRT Documentation - Doxygen source code documentation



The core algorithms and architecture of the system are described in the publications below:

Out-of-core Rendering and Editing M. Wand, A. Berner, M. Bokeloh, P. Jenke, A. Fleck, M. Hoffmann, B. Maier, D. Staneker, A.Schilling, H.-P. Seidel: Processing and Interactive Editing of Huge Point Clouds from 3D Scanners. In: Computers and Graphics, 32(2), 204-220, 2008.

paper (publisher site)
Out-of-core Rendering and Editing M. Wand, A. Berner, M. Bokeloh, A. Fleck, M. Hoffmann, P. Jenke, B. Maier, D. Staneker, A.Schilling: Interactive Editing of Large Point Clouds. In: Proc. Symposium on Point-Based Graphics, 2007.

paper (3.9 MB) -- video (DivX, 46 MB)


Developers: Michael WandAlexander BernerMartin BokelohArno FleckMark HoffmannPhilipp JenkeBenjamin MaierDirk StanekerRoman Parys

The system has been developed at WSI/GRIS, University of Tübingen and MPI Informatik, Saarbrücken.

The sister site of this distribution at Tübingen is located at:

Acknowledgements: This work has been supported by the Cluster of Excellence "Multi-Modal Computing and Interaction", the Max Planck Center for Visual Computing and Communication, the DFG grant "Perceptual Graphics",  Landesstiftung Baden-Württemberg (BW-FIT Projekt „Information at your fingertips – Interaktive Visualisierung für Gigapixel Displays”), and basic funding of WSI/GRIS and MPI Informatics.



This program is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License version 2 as published by the Free Software Foundation.

This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

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