VERTIS Virtual Scanner download

A virtual scanner that converts 3D models (in Wavefront .obj format) into pointcloud files (in PCL .pcd format). Useful for simulating robotic input.

NOTE: This project has been merged into the project at https://github.com/canderegg/cfg_obj

Features

Imports 3D models in Wavefront Object (.obj) format.
Exports pointclouds in PCL Cloud (.pcd) format.
Allows user-defined sampling rates when scanning.
Can simulate Gaussian and Kinect noise profiles.
Can cull backfaces and occluded faces.
Supports Wavefront material libraries (.mtl), including textures and Lambertian shading.

Project Samples

A low resolution scan of the Stanford bunny (-A 50)

The model above, with backfaces removed.

The same jar of pencils from a different perspective.

A dense pointcloud rendered using diffuse textures and lambertian shading.

A jar of pencils, with the following options: trace point culling, lambertian shading, and simulated Kinect noise.

The original 3D model, before being input to the scanner (shown in Belnder 3D)

Project Activity

See All Activity >

License

Creative Commons Attribution License

Follow VERTIS Virtual Scanner

VERTIS Virtual Scanner Web Site

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Additional Project Details

Operating Systems

Linux, Mac, Windows

Languages

English

Intended Audience

Science/Research

User Interface

Command-line

Programming Language

Python

Related Categories

Python Data Formats Software, Python Robotics Software, Python Simulation Software

Registered

2012-02-20

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