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3D reconstruction small animals RealSense D435

ECosn1
Beginner
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Hello,

I would like to do 3D reconstruction of mouses or small animals in general, using Intel RealSense D435. What is the best way I could do that? Whats the best software I could use?

I would like to know also what is the minimum distance from which we can make 3D pictures with RealSense D435?

Best regards,

Emmanuel

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MartyG
Honored Contributor III
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The D435 is the appropriate choice for scanning live animals, as it has a fast Global Shutter that is suited to capturing motion.

The minimum distance of the D435 camera at each resolution setting is shown in the chart below.

You could capture the animals as a type of depth scan called a Point Cloud. This can be done within RealSense SDK's RealSense Viewer software, with its built-in '3D' mode. A point cloud is a 3D image made up from a set of points.

If you need a more solid image, such as a solid 3D model, the captured point cloud can be converted into a solid Mesh object.

The discussion linked to below can provide more information about capture options, such as use of multiple cameras for 360 degree live capture.

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MartyG
Honored Contributor III
19,907 Views

The D435 is the appropriate choice for scanning live animals, as it has a fast Global Shutter that is suited to capturing motion.

The minimum distance of the D435 camera at each resolution setting is shown in the chart below.

You could capture the animals as a type of depth scan called a Point Cloud. This can be done within RealSense SDK's RealSense Viewer software, with its built-in '3D' mode. A point cloud is a 3D image made up from a set of points.

If you need a more solid image, such as a solid 3D model, the captured point cloud can be converted into a solid Mesh object.

The discussion linked to below can provide more information about capture options, such as use of multiple cameras for 360 degree live capture.

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ECosn1
Beginner
19,906 Views

Hello MartyG,

Thank you for the answer. The movement shouldn't be a problem as the mouses I'll capture are supposed to be asleep.

I will need to have at the end a solid mesh object. How can I convert the point cloud given by RealSense Viewer to a solid mesh of triangles? I didn't find that option on the software.

Best regards,

Emmanuel

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MartyG
Honored Contributor III
19,905 Views

If you do not need to do the conversion from point cloud to solid mesh in real-time, you could use a software package called MeshLab to do the conversion. A guide for doing this for a point cloud created with the RealSense Viewer is linked to below.

https://www.andreasjakl.com/capturing-3d-point-cloud-intel-realsense-converting-mesh-meshlab/ https://www.andreasjakl.com/capturing-3d-point-cloud-intel-realsense-converting-mesh-meshlab/

Another option is to use MeshLab to convert a point-cloud file (ply) exported from RealSense Viewer into an .obj type model file, which is then easy to import into other 3D modeling software such as Maya and 3DS Max for further editing if necessary. A YouTube guide to doing so is below.

https://www.youtube.com/watch?v=nKLP1HpLjJo Converting .ply to .obj in Meshlab - YouTube

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MartyG
Honored Contributor III
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If you haven't already bought a D435 camera, it's worth mentioning that you could hugely simplify the process if you used a RealSense SR300 camera model from 2016, as this has an application that can create a 3D obj file model directly instead of having to convert a point cloud.

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ECosn1
Beginner
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Hello,

I need to do the conversion in real time, and I have unfortunately already bought the D435 camera. Why is this conversion available on a former model, and not on the newest one, shouldn't it be the opposite?

I've bougth the camera recently, is there a way to exchange it for the appropriate model I need?

Best regards,

Emmanuel

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MartyG
Honored Contributor III
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The official SR300 camera model is no longer available. There is an almost identical third-party model produced by Creative called the Creative BlasterX Senz3D (Creative produced the official SR300 for Intel). You may be able to return the D435 for a financial refund and then purchase a Creative BlasterX.

The 400 Series cameras do not have the same tool-set as the older cameras because Intel are focusing on encouraging developers and companies to create applications for the open-source SDK, rather than Intel creating them themselves.

You may not need to change the camera though. A method of creating a point cloud with the 400 Series cameras that is recommended by Dorodnic, the RealSense SDK Manager, is to use a system in the Python language called Pyntcloud. Via PyntCloud, you can apparently convert the point cloud to a mesh from within a script.

https://stackoverflow.com/questions/44997054/point-cloud-to-volume python - Point Cloud to Volume - Stack Overflow

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ECosn1
Beginner
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OK. Do you know if there exists equivalent systems developped in C++?

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MartyG
Honored Contributor III
19,905 Views

The SDK's point cloud example program is in C++.

https://github.com/IntelRealSense/librealsense/tree/master/examples/pointcloud librealsense/examples/pointcloud at master · IntelRealSense/librealsense · GitHub

The RealSense GitHub, where the RealSense developers and engineers reside, would be the best place to ask about how to adapt the program to convert the point cloud into a mesh. You can post a question there by going to the link below and clicking on the 'New Issue' button.

https://github.com/IntelRealSense/librealsense/issues Issues · IntelRealSense/librealsense · GitHub

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MartyG
Honored Contributor III
19,906 Views

In the course of researching another case, I saw an application called LIPScan 3D for the 400 Series that can create a 3D model scan. In the example YouTube video, they scan a toy mouse.

https://www.youtube.com/watch?v=N14Pi6z-MkE LIPScan 3D with RealSense D415 - YouTube

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