3D Field Reconstruction
Hello,
I want to do a 3D reconstruction of an open field with the D455. My first attempt was with Dot3D, but it lacks scan capability, and I don't want to work in real time but rather reconstruct after scanning the area. The next thought was to use open3d reconstruction, but I'm not familiar with open-source software, is there anyone I can consult with, or are there tutorials available?
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Hi Yuval Arnon If you are able to compile computer code then the RealSense SDK's rs-kinfu C++ open-source example program may be helpful. It enables a single camera to be moved around a scene, progressively building up a point cloud scan with frame fusion. Once you are satisfied with the level of detail on the scan then you can export the pointcloud to a .ply format pointcloud data file.
https://github.com/IntelRealSense/librealsense/tree/master/wrappers/opencv/kinfu
If you do not wish to reconstruct the data in real-time but instead scan and then do work on the saved data later then the RealSense SDK's free and open-source RealSense Viewer tool provides the ability to record a continuous stream as a bag file (which is like a video recording of camera data) or as single-frame ply pointcloud file. Multiple ply files exported from the Viewer could be 'stitched' together into a single large pointcloud that incorporates all of the recorded viewpoints.
The RealSense SDK can treat a bag file as though it is a live camera, making it easy to do work with the data using existing publicly available scripts.
Using the RealSense Viewer tool has the advantage that it is available in pre-built executable form and so programming knowledge is not required in order to use it. The Viewer can also load in bag files recorded with it and perform further work on the data in real-time via an easy to use graphical interface, such as applying post-processing filters.
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Multiple .ply pointcloud files exported from the Viewer could be stitched together using a free open-source tool called CloudCompare (available on Linux via a Snap package if you do not have access to Windows).
https://cloudcompare.org/forum/viewtopic.php?t=2543
http://www.cloudcompare.org/doc/wiki/index.php?title=Merge
Linux snap package
https://snapcraft.io/cloudcompare -
Hi MartyX Grover Thank you for the comment and details, I will give it a try.
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