lessthanoptimal
commented
3 years ago I ran into the same problem too. What's going on is the point cloud has unfiltered stereo noise. The noise will throw some points out towards infinity. That's bad when your program tries to be smart and auto scale based on the point distribution! Clearly a bit of work is going to be needed to make this play nice with other tools. That will probably happen when meshing gets added.
I've had some success using osgviewer in Ubuntu. It would initially look like what you showed above and eventually I could move the camera much closer to where it's in the BoofCV viewer.
Loop closure for sure is coming in the next release. It might be a bit longer until the point cloud to 3D mesh is added and much of this noise is filtered. Unless someone wants to help out with that!
On Thu, Mar 11, 2021 at 7:41 PM ApplicateIT-Thang @.***> wrote:
Dear @lessthanoptimal https://github.com/lessthanoptimal and team, I am very interested in the sfm module of BoofCV. I tried to run the examples module from the command: java -jar examples/examples.jar , and run the ExampleMultiViewDenseReconstruction .
After finish processing, the 3d model was reconstructed and visualized very well in PointCloudViewer. [image: pointcloudviewer_result] https://user-images.githubusercontent.com/73826280/110888595-108f8c80-831f-11eb-96e7-545f1ff52d55.png
Then I tried to save the 3d model in ply format by following code:
// Save to the 3d ply model try { DogArray
savedCloud = viewer.copyCloud(null); var workDirectory = "mvs_work/"; OutputStream outputStream = new FileOutputStream(new File(workDirectory, "point_cloud.ply")); PointCloudIO.save3D(PointCloudIO.Format.PLY, PointCloudReader.wrapF64RGB(savedCloud.toList()), false, outputStream); outputStream.close(); } catch (Exception e) { e.printStackTrace(); } The 3d model is generated. But when I open this model by tool such as meshlab or 3d viewer online, the model displayed incorrectly, not as same as the PointCloudViewer showed. [image: save_to_ply_then_display_in_3d_viewer_tool] https://user-images.githubusercontent.com/73826280/110888624-21d89900-831f-11eb-8996-4409e0f1e685.png
Did I do something wrong when saving the 3d model? Or how can I save the 3d model which other tools are able to display the correct model like the PointCloudViewer?
Thank you very much for making this great library. Regards. KieuThang
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ApplicateIT-Thang
Dear @lessthanoptimal and team, I am very interested in the sfm module of BoofCV. I tried to run the examples module from the command: java -jar examples/examples.jar , and run the ExampleMultiViewDenseReconstruction.
After finish processing, the 3d model was reconstructed and visualized very well in PointCloudViewer.
Then I tried to save the 3d model in ply format by following code: _// Save to the 3d ply model try { DogArray savedCloud = viewer.copyCloud(null);
var workDirectory = "mvs_work/";
OutputStream outputStream = new FileOutputStream(new File(workDirectory, "pointcloud.ply"));
PointCloudIO.save3D(PointCloudIO.Format.PLY, PointCloudReader.wrapF64RGB(savedCloud.toList()), false,
outputStream);
outputStream.close();
} catch (Exception e) {
e.printStackTrace();
}
The 3d model is generated. But when I open this model by tool such as meshlab or 3d viewer online, the model displayed incorrectly, not as same as the PointCloudViewer showed.
Did I do something wrong when saving the 3d model? Or how can I save the 3d model which other tools are able to display the correct model like the PointCloudViewer?
Thank you very much for making this great library. Regards. KieuThang