Intel深度相机建模初试

准备工作

• D435或D435i相机一个，好处是室内外都能用
• 安装相机驱动和SDK 2.0
• 安装三维数据处理库Open3D

四个步骤

• Step 0. Capture your own dataset.

• Step 1. Make fragments

  build local geometric surfaces (referred to as fragments) from short subsequences of the input RGBD sequence. This part uses RGBD odometry, Multiway registration, and RGBD integration.

• Step 2. Register fragments

  the fragments are aligned in a global space to detect loop closure. This part uses Global registration, ICP registration, and Multiway registration.

• Step 3. Refine registration

  the rough alignments are aligned more tightly. This part uses ICP registration, and Multiway registration.

• Step 4. Integrate scene

  integrate RGB-D images to generate a mesh model for the scene. This part uses RGBD integration.

执行相应命令：

cd examples/Python/ReconstructionSystem/sensors/
python realsense_recoder.py --record_imgs

cd examples/Python/ReconstructionSystem/
python run_system.py config/realsense.json --make
python run_system.py config/realsense.json --register
python run_system.py config/realsense.json --refine
python run_system.py config/realsense.json --integrate

实验结果

参考文献

• GPU Accelerated Robust Scene Reconstruction
  • Open3D: The unofficial cuda branch
• Open3D: A Modern Library for 3D Data Processing
• Robust Visual-Inertial Tracking from a Camera that Knows Where it’s Going