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LiDARスキャン点群の継ぎ接ぎ

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November 06, 2021
Technology
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 LiDARスキャン点群の継ぎ接ぎ

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ShoYoneda

November 06, 2021
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Transcript

  1. LiDARεΩϟϯ఺܈ͷܧ͗઀͗

  2. ࣗݾ঺հ • ໊લ • ι΢ • εΩϧ • ը૾ॲཧɺ఺܈ॲཧ •

    Twitter • soh_0001

  3. ఺܈εΩϟϯΞϓϦ ͸αΠζ੍ݶ͕͋Δ େن໛ͳ఺܈εΩϟϯ͕Ͱ͖ͳ͍ ͦ͜Ͱ……

  4. Cloud Compare

  5. Cloud Compareͱ͸ • ϑϦʔͷ఺܈ॲཧιϑτ΢ΣΞ • ਺ʑͷศརͳػೳ͕ඪ४౥ࡌ • ੾ΓऔΓ • Ҡಈ

    • Ґஔ߹Θͤ • ྖҬ෼ׂ

  6. ࠓ೔΍Δ͜ͱ • ఺܈ͷࣗಈҐஔ߹Θͤ • Ϛʔδ • ฏ໘நग़ʢ͓·͚ʣ

  7. ఺܈ͷಡΈࠐΈ • ఺܈σʔλΛυϥοάˍυϩοϓ

  8. ࣗಈҐஔ߹Θͤ • Tools > Registration > Fine Registration(ICP) • ̎ͭͷ఺܈σʔλͷྨࣅՕॴͰ

    Ϛονϯά • લఏ • ͋Δఔ౓Ϛονϯάͤͯ͞Δ ఺܈ΛखಈͰۙ͘ʹஔ͘ඞཁ ͕͋Δ

  9. Ϛʔδ • Edit > Merge • ̎ͭͷ఺܈σʔλΛ߹ମͤ͞Δ

  10. ฏ໘நग़ • Tools > Fit > Plane • ఺܈ͷฏ໘෦෼Λநग़ •

    நग़ޙ͸఺ͷμ΢ϯαϯϓϦϯ ά΍িಥ൑ఆʹ׆༻Մೳ

  11. ΋ͬͱڽͬͨ఺܈ॲཧ͕͍ͨ͠Ͱ͔͢ʁ • Point Cloud LibraryʢPCLʣ • C++͔Βར༻Մೳ • ଟ͘ͷ఺܈ॲཧػೳ͕ଘࡏ •

    Filter, Registration, Segmentation, etc… • Open3D • Python͔Βར༻Մೳ • PCLΑΓίʔυྔ͕গͳ͍ • PCLΑΓޙൃͳͨΊɺػೳ໘Ͱ ͸·ͩྼΔ

  12. ͋Γ͕ͱ͏͍͟͝·ͨ͠