In-Hand Scanning Application now in Beta

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In-Hand Scanning Application now in Beta

aichim
Administrator
Hi everybody,


We are glad to announce that our colleague, Martin Saelzle, has just finished the code sprint sponsored by NVidia he has been working on for a while. He helped develop an in-hand scanning program that can be used with RGB-D cameras for creating colored meshes of small objects.

You can find more information about his work on his developer's blog (http://www.pointclouds.org/blog/nvcs/martin/index.php) and on the tutorial page (http://pointclouds.org/documentation/tutorials/in_hand_scanner.php#in-hand-scanner).

In order to get access to the code, you will need to use the trunk version of PCL, and enable the BUILD_app_in_hand_scanner option in CMake. Please send us feedback on your experiences, and of course, suggestions on how this work can be improved.


Cheers,
Alex
---
http://www.alexichim.com
http://www.openperception.org




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Re: In-Hand Scanning Application now in Beta

aespielberg
Thanks for the cool and useful feature!

-Andy S.


On Sun, May 19, 2013 at 2:34 PM, Alexandru Ichim <[hidden email]> wrote:
Hi everybody,


We are glad to announce that our colleague, Martin Saelzle, has just finished the code sprint sponsored by NVidia he has been working on for a while. He helped develop an in-hand scanning program that can be used with RGB-D cameras for creating colored meshes of small objects.

You can find more information about his work on his developer's blog (http://www.pointclouds.org/blog/nvcs/martin/index.php) and on the tutorial page (http://pointclouds.org/documentation/tutorials/in_hand_scanner.php#in-hand-scanner).

In order to get access to the code, you will need to use the trunk version of PCL, and enable the BUILD_app_in_hand_scanner option in CMake. Please send us feedback on your experiences, and of course, suggestions on how this work can be improved.


Cheers,
Alex
---
http://www.alexichim.com
http://www.openperception.org




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Re: In-Hand Scanning Application now in Beta

RodBelaFarin
In reply to this post by aichim
I have some weird behavior with the In Hand Scanner. I get some red points and they die after their MaxAge is reached. Check the videos attached, to see what I mean. Any clue about that?

https://drive.google.com/file/d/0B-EoR_OK9GCgRlFBTUZqZkhjUzg/view?usp=drive_web
https://drive.google.com/file/d/0B-EoR_OK9GCgZWI3SGM1Uk5lTDg/view?usp=drive_web
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Re: In-Hand Scanning Application now in Beta

ayerhs7
In reply to this post by aichim
I was able to scan objects with the in_hand_scanner app and but I'm not able to view the saved .ply and .vtk files. Is there any way I can save the mesh so that I'll be able to open it later and use it for 3D printing?
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Re: In-Hand Scanning Application now in Beta

Sérgio Agostinho
Hey, 

I've been working on this and I pushed some fixes that at least will allow you to be able to see your ply file as a XYZRGB point cloud. The pull request is still pending review though.

Once that is done I'll look on how to actually load the ply as a mesh, because apparently is segfaulting. 

One question though, you're using the handscanner app from pcl HEAD right?  I'm not sure if it was around in 1.7.2. 

Cheers

2015-11-25 11:48 GMT+01:00 ayerhs7 <[hidden email]>:
I was able to scan objects with the in_hand_scanner app and but I'm not able
to view the saved .ply and .vtk files. Is there any way I can save the mesh
so that I'll be able to open it later and use it for 3D printing?



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Re: In-Hand Scanning Application now in Beta

Sérgio Agostinho
In the meantime, try loading your PLY file with pcl::io::loadPolygonFilePLY, which relies entirely on vtk's PLY reader.

Cheers

2015-11-25 14:11 GMT+01:00 Sérgio Agostinho <[hidden email]>:
Hey, 

I've been working on this and I pushed some fixes that at least will allow you to be able to see your ply file as a XYZRGB point cloud. The pull request is still pending review though.

Once that is done I'll look on how to actually load the ply as a mesh, because apparently is segfaulting. 

One question though, you're using the handscanner app from pcl HEAD right?  I'm not sure if it was around in 1.7.2. 

Cheers

2015-11-25 11:48 GMT+01:00 ayerhs7 <[hidden email]>:
I was able to scan objects with the in_hand_scanner app and but I'm not able
to view the saved .ply and .vtk files. Is there any way I can save the mesh
so that I'll be able to open it later and use it for 3D printing?



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Re: In-Hand Scanning Application now in Beta

RodBelaFarin
Where is exactly the problem with saving the ply file as mesh? I would be very, very interested in saving the meshes one can see in the preview.

2015-11-25 14:22 GMT+01:00 Sérgio Agostinho [via Point Cloud Library (PCL) Users mailing list] <[hidden email]>:
In the meantime, try loading your PLY file with pcl::io::loadPolygonFilePLY, which relies entirely on vtk's PLY reader.

Cheers

2015-11-25 14:11 GMT+01:00 Sérgio Agostinho <[hidden email]>:
Hey, 

I've been working on this and I pushed some fixes that at least will allow you to be able to see your ply file as a XYZRGB point cloud. The pull request is still pending review though.

Once that is done I'll look on how to actually load the ply as a mesh, because apparently is segfaulting. 

One question though, you're using the handscanner app from pcl HEAD right?  I'm not sure if it was around in 1.7.2. 

Cheers

2015-11-25 11:48 GMT+01:00 ayerhs7 <[hidden email]>:
I was able to scan objects with the in_hand_scanner app and but I'm not able
to view the saved .ply and .vtk files. Is there any way I can save the mesh
so that I'll be able to open it later and use it for 3D printing?



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Re: In-Hand Scanning Application now in Beta

Sérgio Agostinho
Based on what was reported here

there seems to be an issue with pcl::io::savePLYFile(). But I haven't had the time to try to reproduce this. 

Nevertheless, there are even bigger issues with pcl::io::loadPLYFile()   :)

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Re: In-Hand Scanning Application now in Beta

ayerhs7
As far as I know, the kinfu app also uses pcl::io::savePLYFile() to save files in ply format and it works perfectly fine there.
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Re: In-Hand Scanning Application now in Beta

ayerhs7
In reply to this post by Sérgio Agostinho
I'm using the in_hand_scanner from the pcl-master that i downloaded.
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Re: In-Hand Scanning Application now in Beta

RodBelaFarin
In reply to this post by Sérgio Agostinho
@Sérgio Agostinho: Any news up to pcl::io::savePLYFile() and pcl::io::loadPLYFile() for In-Hand Scanner App? I'd really like to share a ROS package of In-Hand Scanner, but I would appreciate doing it with this bugs being fixed. I think there is a lot of potential, especially if it would be able to save the full meshes.
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Re: In-Hand Scanning Application now in Beta

VictorLamoine
Administrator
This post was updated on .
There have been many fixes in the PLY I/O module of PCL, everything should be working perfectly now with the latest PCL trunk.

Here are the relevant pull requests:
https://github.com/PointCloudLibrary/pcl/pulls?utf8=%E2%9C%93&q=is%3Apr+is%3Amerged+ply+author%3ASergioRAgostinho+author%3AVictorLamoine
https://github.com/PointCloudLibrary/pcl/pulls?utf8=%E2%9C%93&q=is%3Apr+is%3Amerged+ply+author%3ASergioRAgostinho

As a side note, I think the in-hand app is great but needs a serious re-write to clarify the code, make use of newer PCL functionnality etc.
Do you plan an writing a Rviz plugin for that app in ROS? That would be the best thing to do in my opinion.
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Re: In-Hand Scanning Application now in Beta

RodBelaFarin
For the moment I just implemented a subscriber for PointCloud2 to be able to use different inputs as only OpenNI based ones. And I am not sure about the Rviz plugin. The GUI is pretty fine as it is, so I would use this one at all. Publishing the resulting mesh as PointCloud again to view in Rviz might be an option in my point of view.

2016-01-15 11:58 GMT+01:00 VictorLamoine [via Point Cloud Library (PCL) Users mailing list] <[hidden email]>:
There have been many fixes in the PLY I/O module of PCL, everything should be working perfectly now with the latest PCL trunk.

Here are the relevant pull requests:
https://github.com/PointCloudLibrary/pcl/pulls?utf8=%E2%9C%93&q=is%3Apr+is%3Amerged+ply+author%3ASergioRAgostinho+author%3AVictorLamoine

As a side note, I think the in-hand app is great but needs a serious re-write to clarify the code, make use of newer PCL functionnality etc.
Do you plan an writing a Rviz plugin for that app in ROS? That would be the best thing to do in my opinion.


If you reply to this email, your message will be added to the discussion below:
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Re: In-Hand Scanning Application now in Beta

Sérgio Agostinho
Sorry mate. I currently have my spare hours devoted to something else, at least for the next two weeks. After that I'll have a look at it. 

2016-01-15 12:42 GMT+01:00 RodBelaFarin <[hidden email]>:
For the moment I just implemented a subscriber for PointCloud2 to be able
to use different inputs as only OpenNI based ones. And I am not sure about
the Rviz plugin. The GUI is pretty fine as it is, so I would use this one
at all. Publishing the resulting mesh as PointCloud again to view in Rviz
might be an option in my point of view.

2016-01-15 11:58 GMT+01:00 VictorLamoine [via Point Cloud Library (PCL)
Users mailing list] <[hidden email]>:

> There have been many fixes in the PLY I/O module of PCL, everything should
> be working perfectly now with the latest PCL trunk.
>
> Here are the relevant pull requests:
>
> https://github.com/PointCloudLibrary/pcl/pulls?utf8=%E2%9C%93&q=is%3Apr+is%3Amerged+ply+author%3ASergioRAgostinho+author%3AVictorLamoine
>
> As a side note, I think the in-hand app is great but needs a serious
> re-write to clarify the code, make use of newer PCL functionnality etc.
> Do you plan an writing a Rviz plugin for that app in ROS? That would be
> the best thing to do in my opinion.
>
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> If you reply to this email, your message will be added to the discussion
> below:
>
> http://www.pcl-users.org/In-Hand-Scanning-Application-now-in-Beta-tp4027892p4040596.html
> To unsubscribe from In-Hand Scanning Application now in Beta, click here
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