fangchaohu1211 / geometrycv

Point Cloud Stitching

GeometryCV

Point Cloud Stitching

These files, when run in sequence, will load stereo image pairs, generate point clouds, filter the point clouds, and stitch them together

Step 1: - Run StereoMatching.py by typing: - $ python StereoMatching.py - StereoMatching.py will read from the CSV file StalkLocations.csv which contains the x,z offset of each image. - The python script also loads the stereo pairs contained in the folder /images and outputs point cloud into a folder /plyClouds2. - The python script iterates through image pairs using a for-loop. To load more or fewer images, adjust the number of iterations in the for-loop.

Step 2: - Build the C++ files using make - From the build folder, run statOutlierBundled.cpp by typing: - $ ./statOutlierBundled ../plyClouds2/cloud{00..12}.ply - This will send 13 point clouds into statOutlierBundled.cpp

Step 3: - Run incrementalRegister.cpp by typing: - $ ./incrementalRegister Cloud{0..12}_inliers.pcd - The 13 files CloudXX_inliers.pcd should be automatically located in the Build folder after running statOutlierBundled.cpp - When running incrementalRegister.cpp, you may notice a delay of 30-40s. This is because the script is loading all of the pcd files at once. - Follow the prompt, pressing 'q' when appropriate. - This script will output X-1 files (i.e. outputs 12 files if you input 13 files). This is because each new cloud consists of a stitched cloud pair. - The new stitched clouds will be stored in the plyClouds2 folder under the names cloudX_registered.ply. - You can load all of the clouds into Meshlab at once for viewing.

Step 4: - Display the stitched clouds (cloudX_registered.ply) in Meshlab or any other viewer

Step 5: - To concatenate clouds, run concatenateClouds.cpp by typing: - $ ./concatenateClouds ../plyClouds2/cloud{1..12}_registered.ply - This script will voxellize the cloud to reduce the number of points. - You will see errors regarding an element 'camera' that isn't handled. It doesn't appear to be an issue.