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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
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L515: General information/direction on handheld 3D Scanning #7565

Closed abribanez closed 3 years ago

abribanez commented 4 years ago
Required Info
Camera Model L515
Operating System & Version Win 10
Platform PC
Language Python

Issue Description

Hi, I'm looking for further understanding regarding how the process of 3D Scanning will work in my case and what extra software I could possibly need. I'm particularly interested in scanning interiors and ultimately get an OBJ which I can use for 3D Rendering. My understanding of 3D scanning is very low. I come from a VFX background (3D rendering, modelling, etc..)

Could you describe what the pipeline would look like once I get an L515?

Specifically:

Also if there's any free software solution you can recommend, that would be great, but I do have some python knowledge. Perhaps, if you could provide pointers to know how to accomplish what I want using the SDK, that would be very helpful too.

Thank you! Abraham I.

shuixing85 commented 4 years ago

Hi Abraham,

I have the same interest, just bought the L515 yesterday and played for a while, here are my comments:

Assuming you have a long enough cable to connect the PC:

  1. download Dot3D, that will generate a ply file.
  2. using Meshlab to convert the ply file to obj; then you may play with it in the Blender or Cinema4D : )

hope this will help you.

abribanez commented 4 years ago

Hi! Thanks for the reply. Yeah, after looking at Dot3D videos, it seems to do what I'm looking after. However, it is quite expensive! hehe. I would prefer an open-source approach, even if it means having to write some code to make it work, just want some kind of direction really.

Having said that, am I right in assuming that IntelRealSense Viewer has no way to export a .ply file? (Need to do some research on what the ply file really is, hehe, I'm very ignorant in this topic.. for now :P )

I also see there's an android app called RS Camera - wondering what the file format coming out of those depth/rgb recordings is.

shuixing85 commented 4 years ago

Hi there, New findings:

  1. For each record, the realsense viewer save "bag" files under the document folder, which include all data generated during the record;
  2. the SDK2 provides a converter tool under C:\Program Files (x86)\Intel RealSense SDK 2.0\tools, can help you to transfer the Bag file to PLYs;
  3. My next step is to find some align software to place the ply models at the right places,

Seems not far from our goal and hope it helps,

William

abribanez commented 4 years ago

Hi William,

I came across Open3D, its open-source, and it might do what we are looking for. Although the record functionality seems not supported yet for L515, BUT reading through the ISSUES section, it could be solved by properly configuring Open3D specifically for L515:Read this

Another solution might be to process the .ply files converted from the .bag in Open3D by using the alignment and reconstruction functions.

I haven't bought the camera yet, still deciding if I should go for it or not. Looks like there's not much support for the L515 :P I would be interested to see an OBJ sample from an L515 3D reconstruction interior scene. If you ever happen to successfully create one, would you mind sharing it with me?

Thanks for sharing what you know so far! Abraham I.

shuixing85 commented 4 years ago

Hi Abribanez,

Yeah, I've looked at Open3D these days, literally 0 experience in coding and it progresses very slowly. Just managed to run a few tutorials and I believe we are heading to the right direction.

I used Dot3D to create an OBJ as a sample for you, hope it helps : ) OBJ file: https://www.dropbox.com/t/hvVKFz1O6Iiqz0G2

Regards, William

rlabs-oss commented 4 years ago

RTAB-Map and the L515 @ 640x480 works providing you can build the standalone app and also librealsense2. and apply the suggested changes from the RTAB-Map issue #614 A short demo mapping with the L515 I did test the L515 in IR mode at 1024x768 also but that causes problems with the other T200/D400 cameras.

shuixing85 commented 4 years ago

RTAB-Map and the L515 @ 640x480 works providing you can build the standalone app and also librealsense2. and apply the suggested changes from the RTAB-Map issue #614 A short demo mapping with the L515 I did test the L515 in IR mode at 1024x768 also but that causes problems with the other T200/D400 cameras.

@rlabs-oss Thanks for helping, it is exactly what I want,

Happy to see someone has figured it out so I can just follow the steps : )

shuixing85 commented 3 years ago

Hi @abribanez

I tested/tried RTABmap these days/finally managed to install on my machine,

and it works similar to the Dot3D, the quality may differ a little bit, too many parameters to tweak, but in general, it works!

You may get the package from the building frame here: https://ci.appveyor.com/project/matlabbe/rtabmap/branch/master/artifacts

turn off the globe time sync as this: https://github.com/introlab/rtabmap/issues/614#issuecomment-734101074

And it should work.

Hope it helps you,

William

eltonhcchan commented 3 years ago

@rlabs-oss, I am also trying L515 but on windows 10. I followed your advice and can show input streaming when testing only. The start button is disabled but I don't know how to activate it. Any advice?

rlabs-oss commented 3 years ago

File / New Database, then click start - See video example (This was made in Linux, should be the same for Windows)

https://user-images.githubusercontent.com/72981257/104816846-5ac82600-5826-11eb-9ca9-c61aed2fdbf8.mp4

eltonhcchan commented 3 years ago

@rlabs-oss many thx, it finally works. BTW, it is easy to lose track.

RealSenseSupport commented 3 years ago

Hi,

Will you be needing further help with this?

If we don’t hear from you in 7 days, this issue will be closed.

Thanks