Azure Kinect DK realizes 3D reconstruction (PC non real time version)

Azure Kinect DK Depth camera +NVIDIA jetson Real time 3D reconstruction series

1. Azure Kinect DK Depth camera sdk install （Ubuntu+ARM64,Ubuntu+AMD64,Windows）

2. Azure Kinect ROS Driver install

3. Azure Kinect DK Point clouds and RGBD Graph acquisition

4. Azure Kinect DK Realize 3D reconstruction （PC Non real time version ）

5. Azure Kinect DK Realize 3D reconstruction （jetson Real time version ）

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Preface

Leveraging open source frameworks open3d Of Reconstruction system Realization Azure Kinect DK 3D reconstruction of camera , Uploaded code ：

https://github.com/luckyluckydadada/Azure-Kinect-DK-3D-reconstruction.git

Environmental statement

Leveraging open source frameworks open3d Of Reconstruction system Realization Azure Kinect DK 3D reconstruction of camera .
The development environment is Ubuntu18.04 The notebook +DK On camera , You can carry a notebook and connect it dk The camera （ The power bank supplies power to the camera ） Conduct outdoor acquisition , Acquisition and reconstruction of open3d The versions are different , It is best to conda Create two separate environments .
In addition to win10 Can be rebuilt on , But the use of win10+ There are some small problems with the camera collecting data , It needs to be solved by itself .
The follow-up meeting will be held in jetson+dk On camera , It's better to have real-time .

Please make sure you have completed Azure Kinect DK Depth camera sdk install （Ubuntu+ARM64,Ubuntu+AMD64,Windows） and Azure Kinect DK Point clouds and RGBD Graph acquisition And pass the test , Continue with the following process .

install

git clone https://github.com/luckyluckydadada/Azure-Kinect-DK-3D-reconstruction.git
cd Azure-Kinect-DK-3D-reconstruction/open3d_reconstruction

Record and extract data

cd Azure-Kinect-DK-3D-reconstruction/open3d_reconstruction
pip install -r requirements-0.10.txt  #  Install here  open3d Version is  0.10.0
Recording data , Space to start recording ,esc Exit recording and save ：
python sensors/azure_kinect_recorder.py --output dataset/name.mkv 
extract rgb and depth Images , And cameras config And camera reference config：
python sensors/azure_kinect_mkv_reader.py --input dataset/name.mkv --output dataset/name  

Reconstruction

cd Azure-Kinect-DK-3D-reconstruction/open3d_reconstruction
pip install -r requirements.txt  #  Install here  open3d Version is  0.12.0
If a directory move occurs , Please amend dataset/name/config.json Medium "path_dataset" and  "path_intrinsic" Value .
python run_system.py dataset/name/config.json --make --register --refine --integrate

The reconstruction demo

Stairs

Results of colored point clouds ：

mesh Result ：

The office

Results of colored point clouds ：

mesh Result ：

Reference resources

http://www.open3d.org/docs/latest/tutorial/ReconstructionSystem/index.html