Hi,
I am trying to import E57 files to Reality Capture but they are not being imported.
For Few scans, it shows a warning: Sampling Estimation Failed. Probably, the imported data is not a scan.
For Few scans, it shows that the files are imported, but none of them are visible in the project. Even the lsp’s are not created.
I captured the Lidar data and stored it in a ROSBag .db3 format. By using a python script, i have created a txt file which has X,Y,Z and intensity with whitespaces in between.
The Scans are clearly visible when imported onto CloudCompare and in MeshLab, but RC is not recognizing them.
Summary of obtaining E57s:
Robot Scan → Data Stored in ROSBag (.db3) ->Read data from python script while playing the ROSBag → Txt File → Import onto Cloud Compare, Export as E57.
Lidar Used: 4D Lidar L1.
Any Suggestion?
Hello,
which RealityCapture version are you using?
Not all E57 exports from CloudCompare are capable as lidar scans with TLS position in it (ordered point clouds) as in most cases this is not exported (How to save TLS/GBL info into a pointcloud file - CloudCompare forum).
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Thank you for the Reply. I am using Reality Capture version 1.3.
I am a bit curious,
Why can Reality Capture accpet only TLS and why not handheld Lidar Scanners?
Is it because, TLS would directly export in E57 which has Laser information(Odometry, localization, etc)? If so, i do have a handheld lidar which gives output of the captured points along with odometry, localization, information but in PCD format.
TLS has information about the position which RealityCapture needs. You also need to consider, that RealityCapture uses laser scans differently, it is the projection of the scanner 3D point cloud to a cube which is placed into the scanner center and it is axis aligned in the scanner coordinate system. Field of view of each virtual camera is then naturally 90deg.
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