devshank3/jetscan

JetScan : GPU accelerated portable RGB-D reconstruction system

JETSCAN

(Currently not maintained)

Please refer to Official enhanced GPU tensor reconstruction system Link for O3D docs

      A standalone portable 3D reconstruction system with Intel realsense and Jetson Nano

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Motives

• Standalone 3D reconstruction system
• Instant 3D reconstruction
• Metrically accurate
• Low power consuming
• Offline and online (both)
• Cost effective
• Modular approach
• Deep learning integration (3D deep learning for registration)

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Hardware built:

Reconstructed results:

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Introduction

Jetscan is a portable 3D dense reconstruction system based on

1. Jetson nano by NVIDIA
2. Intel Realsense D400 series depth camera
3. Open3D by INTEL ISL
4. theNded's CUDA implementation

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Schematic sketch

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Software Setup

• For setting up the software stack, follow instructions in

  Sofware_O3D - Software setup

• Complete software repo is here (forked from Open3D)

  https://github.com/devshank3/Open3D-for-Jetson

  its built on theNded's CUDA implementation

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Hardware Setup

Follow instructions in

1. Hardware_electronics - Electronics setup

2. Hardware_casing - Case/Closure setup

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Follow https://github.com/devshank3/JetScan/blob/master/Software_O3D/README.md for Software Setup

Usage

• Step 1 : Go to Open3D-for-Jetson/Reconstruction_Jetscan_Hybrid/

• Step 2 : Edit Main_gui.py

  set your system executable path to Run_MakeFragments,ViewPoseGraph,Run_IntegrateScene

  eg.

   os.system('/home/shank/Projects/3D_processing/jetscan/jetscan-final-edit/Open3D-for-Jetson/build/bin/examples/./Run_MakeFragments')
  
                                                          ⇩⇩⇩ to ⇩⇩⇩                       
  
   os.system('your_system _path/Open3D-for-Jetson/build/bin/examples/./Run_MakeFragments')
  

• Step 3: Run the UI (in virtual env if setup)

  $ python3 Main_gui.py

• Step 4 : Start the Reconstruction

  Capture RGB-D

  Captures the RGB-D sequence

  Reconstruct Scene

  The hybrid reconstruction system starts with the RGB-D sequence recorded

  View

  View the latest reconstructed 3D Model

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Development & Contribute

If interested pls contact me @ [email protected]

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License

Under the MIT License (MIT)

Copyright (c) 2020 Shankar Hariharan (aka devshank3)

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jetscan's Issues

Utilizing RGB sensor

I was wondering if I could use RGB sensors of any android device instead of RGBD camera , is it possible , and could you please help on this ?

can it be modified to work with realsense l515

any insights?
Thanks

How much RAM does this use?

Hi,

This looks really interesting I have an unused SR300 which might work, are you using the 2GByte version of the Jetson? Or the 4Gbyte RAM?

Thanks
Julia

Code Availabilty

Hey, could you please provide your Depth Camera Settings (.json file) and Python code for this project? Thanks :)