3DCV-Final-Project-GROUP14

This is group 14 final project for 3DCV

Usage

COLMAP

• Run colmap.sh to create point cloud file

bash colmap.sh

• Merge ply files

python merge_ply_files.py --input <path/to/all/ply/files> --output <path/to/output>

Meshroom

• SfM parameters

- Vocabulary tree number of image:200
- Vocabulary tree Max descriptor:500
- Descriptor Type:SIFT
- Matching method: ALL_L2
- Geometric Estimator: ARC_RANSAC
- Max iteration: 2048

Maplab

• Not successful

ORB-SLAM 3

• Feed segmented mp4 to SLAM

- put myvideo.cpp under ORB_SLAM folder
- replace origin Cmakefile
- Rebuild with ORB-SLAM build.sh

CloudCompare

• ICP parameters

Random sampling limit: 50000
Rotation: unfixed
RMS difference: 1.0e-06

• To merge ply into one

CloudCompare -O {filename} -MERGE_CLOUDS

Dataset

Dataset

• bag file to RGB frame

python bag2frame2_RGBRGBD_SaveAsPng.py --input <path/to/input> --i <interval_of_frame> --output <path/to/output>

Output

Merge output