# Some-implementions-with-RGBD-camera-RealSense-D435

**Repository Path**: LuckyHouse/Some-implementions-with-RGBD-camera-RealSense-D435

## Basic Information

- **Project Name**: Some-implementions-with-RGBD-camera-RealSense-D435
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 0
- **Created**: 2021-01-08
- **Last Updated**: 2022-05-07

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

### This repository may be no longer maintained.
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# 3D Reconstruction with RealSenseD435
Some personal implementation of 3d reconstruction with Realsense D435.

## Contents
* **Basic**
> 1.capture RGBD pointcloud and save RGBD images

> 2.Record RGBD stream as '.bag' file

> 3.Read RGBD '.bag' file
* **3D Object Reconstruction Based on Muti-view RGBD Images Using An A4 paper**
> Using an A4 paper to reconstruct an object's 3d pointcloud.

* **Realtime 3D Reconstruction Using Double Opposing RealSenses**
> Using a double side chessBoard to realtime registrating pointclouds from two opposite rgbd camera.

* **Object Recognition Using PointNet**
> Realtime 3d object partial pointcloud recognition based on PointNet.
 
* **Object Pose Estimation Using DenseFusion**
> Realtime object pose estimation using DenseFusion.

## Screenshots
<img src="./Doc/workbench.jpg" height="200" width="" >

point cloud of a toy dog

<img src="./Doc/dog.gif" height="200" width="" >

realtime registration of pointclouds from two cams.

<img src="./Doc/doubleCam.gif" height="200" width="" >

Realtime object recognition using PointNet.

<img src="./Doc/3d_recognition.gif" height="300" width="" >

Realtime object pose estimation using DenseFusion.

(Using the box's pose to control the virtual dog model's pose)

<img src="./Doc/obj_three.gif" height="300" width="" >