LiDARスキャン点群の継ぎ接ぎ

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·ͨ͠