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

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Categories

Data Formats, Robotics, Simulation

License

Creative Commons Attribution License

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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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