Room Scan with D435i

[kkana4]

I'm working on Realsense D435i. What I want to do is scanning a room with D435i. I can save the ply from scanning, but it just part of the room.

I get stuck in merging ply files.

Has anyone done a similar thing?

Or is there any way to merge frames to get an entire room's ply?

Thanks,

[MartyG · Accepted solution]

A SLAM scanning example for D435i recently became available.

https://github.com/intel-ros/realsense/wiki/SLAM-with-D435i

​Building up a model by moving a single camera around the room with SLAM scanning until you are satisfied with the amount of detail in the model may be better than trying to capture multiple ply and stitching them together.

With SLAM, you can live-record data til you have a good model and then turn off live mode and keep the model as it is, yet still use it in a real time application (such as using a live camera ​with a pre recorded map of a room).

[kkana4]

Hi MartyG,

Thank you for sharing the information with me. I regularly check librealsense repo, but didn't know the repo you told me.

Really appreciate!