This repo uses a stereo camera and gray-code-based structured light to realize dense 3D reconstruction.

Related tags

Hardware structured-light structured-light-for-3d-scanning 3d-scanner
Overview

Structured-light-stereo

This repo uses a stereo camera and gray-code-based structured light to realize dense 3D reconstruction.

pcd. pcd

How to use:

  • STEP 1: Setup the stereo camera and calibrate it with a Charuco marker. An example dataset is provided in ./data/stereo_calib_flir. You can play with it by running ./capture/charuco_calib.py. The calibration results will be saved in './data/stereo_calib_flir/stereo_calib_data.h5.
  • STEP 2: Connect your projector with your computer and run gray_code_encoder.py to project gray-code patterns. I used two FLIR cameras to build my stereo system and the driver script is ./capture_calib/double_flir_capture.py. An example dataset is in ./data/bag.
  • STEP 3: Run one of the three gray_code_decoder_*.py scripts to get the reconstructed point clouds. Differences among them are:
    • gray_code_decoder_disp.py: First recover a disparity map and rely on it to construct the point clouds. So the matching is column-direction only. This script can be the primary choice with good stereo calibration.
    • gray_code_decoder_tria_all_pts.py: First respectively construct the pixel-level camera-projector correspondences. Then triangulate the left-right camera pixels that correspond to the same projector's pixel. So the matching is 2D.
    • gray_code_decoder_tria_unique_pts.py: Same as above. But only pixels with unique correspondences are triangulated.
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Comments
  • decoding problem

    decoding problem

    I checked your code carefully. In the decoding section, only the gray_code_decoder_disp.py file Function. The rest of the files show this error after execution. Traceback (most recent call last): File "C:/Users/APA/PycharmProjects/pythonProjectOpen3D/Structured-light-stereo-main/gray_code_decoder_tria_unique_pts.py", line 121, in error, projPixel = graycode.getProjPixel(pattern_list[0], j, i) TypeError: Required argument 'projPix' (pos 4) not found

    Process finished with exit code 1 In addition, and most importantly, the output file cannot be converted into a mesh. My goal is to use your code to convert the decode of the bag into an .obj file and display it in my program through Mashlab.

    opened by atroopa 3
  • 'disp_filter' is not defined in gray_code_decoder_disp.py

    'disp_filter' is not defined in gray_code_decoder_disp.py

    Hi, SILI1994 Thanks for your great work ! There is something to ask for your advice. When I run "gray_code_decoder_disp.py", I meet a problem is "NameError: name 'disp_filter' is not defined" I also can't find any function or py file named by 'disp_filter'. Could you give me any advice? thank you!

    opened by wjwang0816 2
  • Scalloped dots in the point cloud!

    Scalloped dots in the point cloud!

    Hello, I am generating point cloud data with my own images using gray_code_decoder_disp.py. But the point cloud is scalloped as seen in the photo. In other words, it consists of many small squares parallel to the plane of the camera.

    Point Cloud Photos:

    Full cloud: https://ibb.co/bWGD1DX Zoom to small squares : https://ibb.co/f1TMFQc Zoom squares side view: https://ibb.co/tL9xdqw

    Even though the surface of the piece I scanned is completely smooth and flat, the point cloud is formed in this way.

    opened by cagataykrdmr 1
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