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This is a set of bin files, merging several images captured by Realsense D4XX to Merged Point cloud

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Lab Section 1: Point Cloud Fusion

This lab section teaches you how to capture raw data and fuse all point cloud into one, with additional point cloud processing steps in Meshlab.

System Requirements

  • Windows 10 64 bit
  • If you are using Mac or Linux, plz contact Yingjun through [email protected] and I would arrage your time slot for using our lab Windows computer

Software Requirements

  • Python >= 3.0
    • access this website to download windows 64bit installer:

      https://www.python.org/downloads/release/python-387/

    • During installation, remember click "add to system path" option

    • When you want to run python script like "cmd.py":

      • click on main menu of windows, type in "cmd" to open windows terminal
      • change directory to your working directory like: "cd C:/workingDirectory"
      • Runn .py file, plz use "python cmd.py" or "cmd.py" to run the program

Program details

  • First Lab Section includes:
    • Capturing to acquire dataset
    • Image conversion
    • Data Fusion
    • Data Cleaning

Capturing: Acquire Dataset

  • You could get dataset from two ways

    • 3 datasets provided by TA
    • You could use capture program provided by us to capture rgb and depth image
  • Remember the image size of your dataset

    • the image size of dataset provided by TA is included in dataset folder
    • capturing dataset: 1280X720

Image Conversion

  • This bin file will convert image from png to ppm or pgm (fusion program requests this format)

  • Run ./Image_Conversion/cmd.py

    • Before running, you should provide how many rgb file or depth file you have

      By changing ""png_file_number" variable value

  • After conversion, you would get converted rgb and depth files in rgb_ppm and depth_pgm folder

Camera Calibration (Optional)

  • Calibrate Realsense D4XX
    • See ./Calib/bin/README.me for details
    • We provide chess.pdf in ./Calib/bin/ to automatically calibrate camera and calibration program will provide output txt file which can be directly read from Fusion exe file
    • Remark: This bin file is from https://github.com/carlren/OpenNICalibTool
  • If you are not interested in this process, plz ignore this part, we have provided some calculated calibration files for you to use

Data fusion

  • move the converted ppm and pgm folders to **./infiniTAM_cli_bin **
  • Fusion result will be stored in ./infiniTAM_cli_bin/FusionResult
  • Run ./infiniTAM_cli_bin/cmd.py to get fusion result
    • Before starting, please provide image size you are using, and please see cmd.py for further detail about image size of every dataset:

Data Cleaning

You could download this opensource software through this website

Website: https://www.meshlab.net/

image-20210418172231792

We choose to use MeshLab to clean the fused point cloud to be clean point cloud:

  • Outlier filtering

  • Other point cloud selection

  • Mesh Selection and cleaning operation

Need to point out:

  • Fused result is mesh, but the mesh quality is not good because the point cloud is noisy
  • So we should only use the point cloud data and do some mesh reconstruction in our second lab section

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This is a set of bin files, merging several images captured by Realsense D4XX to Merged Point cloud

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