3d重建

USAGE

Use pcd file with panoramic image to colorize the point cloud to realistic 3D rendering.

you will need:

• a panoramic photo
• a pointcloud file
• relating point cloud (x,y,z) positions
• correlating pixel position (x,y) in the same scene

PROCEDURE

0. Converting ros bag to pcd:

   rosrun pcl_ros bag_to_pcd xxx.bag /hokuyo_points input/pointCloud

1. Merging pcd files to one:

   python fusioneye.py merge_pcd

2. Picking (x,y,z) from point cloud:

   pcl_viewer input/pointCloud.pcd -use_point_picking

   shift + 鼠标左键点击可以获取点云坐标

3. Picking relative image pixel (x,y) from image file:

   use a gimp or equivalent image software

4. Prepare source data folder:

   • 图像坐标和点云坐标文件: input/imageAndPcd.txt
   • 图像文件: input/image.JPG

5. Run coloring command:

   python fusioneye.py color_pcd

6. Output colorful pcd file:

   输出有色点云: output/colourfulPointCloud.pcd