drone to laser scan registration

Please post all open source software related items here, eg MeshLab
Post Reply
tbwester
V.I.P Member
V.I.P Member
Posts: 904
Joined: Fri Apr 20, 2012 1:49 pm
11
Full Name: Thad Wester
Company Details: Clarity Scanning
Company Position Title: President
Country: USA
Linkedin Profile: Yes
Location: SC
Has thanked: 1 time
Been thanked: 2 times

drone to laser scan registration

Post by tbwester »

I scanned a dirt pile with a C10. and Also flew my drone over the pile, collecting images which I used to create a point cloud.

I am trying to register the two together.

I get them aligned with ~1ft but when I choose the c2c alignment in Cloud Compare I never get a good result.

Any tips?
User avatar
danielgm
V.I.P Member
V.I.P Member
Posts: 193
Joined: Thu Jun 20, 2013 10:45 am
10
Full Name: Daniel Girardeau-Montaut
Company Details: CloudCompare
Company Position Title: Administrator
Country: France
Linkedin Profile: Yes
Location: Grenoble, France
Has thanked: 11 times
Been thanked: 32 times
Contact:

Re: drone to laser scan registration

Post by danielgm »

Do you use the 'point-pair based align' tool or the 'automatic (ICP)' one?
Daniel
CloudCompare admin
http://www.cloudcompare.org/
FVSTech
I have made 20-30 posts
I have made 20-30 posts
Posts: 29
Joined: Tue Mar 06, 2012 10:49 pm
12
Full Name: Andrew
Company Details: FVS
Company Position Title: Forensic Video Analyst
Country: United States

Re: drone to laser scan registration

Post by FVSTech »

We are currently doing this manually from scan to scan. I'm interested to see if someone else has a better, more automated workflow.

We're using a Phantom 2 Vision+. The images can be lens corrected decently within Photoshop, but unless you are the exact same elevation each scan, the auto-align feature in photoshop won't work well over multiple images.

Instead, we've been doing all of our color correction and registration manually scan by scan.

Hopefully someone will chime in with a better way!
User avatar
3DForensics
Honorary Member
Honorary Member
Posts: 1979
Joined: Mon Aug 03, 2009 1:52 am
14
Full Name: Eugene Liscio
Company Details: AI2-3D Forensics
Company Position Title: Owner
Skype Name: eliscio
Location: Toronto, Canada
Has thanked: 13 times
Been thanked: 70 times
Contact:

Re: drone to laser scan registration

Post by 3DForensics »

If the two point clouds are similar and there were little changes between the two, then I can't see why they would not register properly except for where the pile is like a cone shape that is symmetrical around the (vertical) axis of rotation. In this case, I would stick with manual point picking alignment.

Another possible issue could be scale of your project from photogrammetry. If you have very discreet points for picking during registration, you can use the "scale" option in CloudCompare which will not only register, but also scale your photogrammetry point cloud to a best fit. I would only use this if you have very unique geometry or lots of discreet points for manual selection.

Eugene
User avatar
IngSayyad
V.I.P Member
V.I.P Member
Posts: 239
Joined: Thu Dec 19, 2013 12:10 pm
10
Full Name: shahzad sayyad
Company Details: Ingenieurbuero Drecoll
Company Position Title: Entwicklungsingenieur
Country: Germany
Skype Name: shah.baba_2012
Linkedin Profile: No
Location: Hannover
Been thanked: 1 time
Contact:

Re: drone to laser scan registration

Post by IngSayyad »

How you scaled your photogrammetric data.
Dr.-Ing. Shahzad Sayyad
User avatar
Dave Andrews
V.I.P Member
V.I.P Member
Posts: 172
Joined: Thu Oct 18, 2012 8:58 pm
11
Full Name: Dave Andrews
Company Details: R.E. Warner Associates Inc.
Company Position Title: 3d Scanning Coordinator
Country: USA
Linkedin Profile: Yes
Location: Canton, Ohio
Has thanked: 2 times
Been thanked: 22 times
Contact:

Re: drone to laser scan registration

Post by Dave Andrews »

Not sure what UAV you are using. Scale is the issue I deal with, our UAV will not scale things properly without control.
"The harder you work, the harder it is to surrender."
Woody Hayes
tbwester
V.I.P Member
V.I.P Member
Posts: 904
Joined: Fri Apr 20, 2012 1:49 pm
11
Full Name: Thad Wester
Company Details: Clarity Scanning
Company Position Title: President
Country: USA
Linkedin Profile: Yes
Location: SC
Has thanked: 1 time
Been thanked: 2 times

Re: drone to laser scan registration

Post by tbwester »

danielgm wrote:Do you use the 'point-pair based align' tool or the 'automatic (ICP)' one?
ICP, the point pair crashes.

I used c2c on the 8 scans I took with my c10, and those registered fine. The drone point cloud is scaled correctly.

The drone point cloud and 3D surface looks amazing. But I'm trying to figure out just how closely it is to reality (C10 point cloud).

Thad
User avatar
danielgm
V.I.P Member
V.I.P Member
Posts: 193
Joined: Thu Jun 20, 2013 10:45 am
10
Full Name: Daniel Girardeau-Montaut
Company Details: CloudCompare
Company Position Title: Administrator
Country: France
Linkedin Profile: Yes
Location: Grenoble, France
Has thanked: 11 times
Been thanked: 32 times
Contact:

Re: drone to laser scan registration

Post by danielgm »

So you should indeed relax the scale as suggested by other users as this is generally an issue with SFM clouds.

And I remember a similar crash issue with the point-pair based alignment tool: http://www.danielgm.net/cc/forum/viewtopic.php?t=1100
We don't know where it comes from but I'd be interested to know if this solution works for you as well ;).
Daniel
CloudCompare admin
http://www.cloudcompare.org/
tbwester
V.I.P Member
V.I.P Member
Posts: 904
Joined: Fri Apr 20, 2012 1:49 pm
11
Full Name: Thad Wester
Company Details: Clarity Scanning
Company Position Title: President
Country: USA
Linkedin Profile: Yes
Location: SC
Has thanked: 1 time
Been thanked: 2 times

Re: drone to laser scan registration

Post by tbwester »

danielgm wrote:So you should indeed relax the scale as suggested by other users as this is generally an issue with SFM clouds.

And I remember a similar crash issue with the point-pair based alignment tool: http://www.danielgm.net/cc/forum/viewtopic.php?t=1100
We don't know where it comes from but I'd be interested to know if this solution works for you as well ;).
I dont understand. Relax the scale? I've tried both with and without checking the scale box in ICP. Neither work.

The scale is correct between the two clouds. But the c2c algo cannot find a match.

I will try the crash fix.
tbwester
V.I.P Member
V.I.P Member
Posts: 904
Joined: Fri Apr 20, 2012 1:49 pm
11
Full Name: Thad Wester
Company Details: Clarity Scanning
Company Position Title: President
Country: USA
Linkedin Profile: Yes
Location: SC
Has thanked: 1 time
Been thanked: 2 times

Re: drone to laser scan registration

Post by tbwester »

IngSayyad wrote:How you scaled your photogrammetric data.
Picking common points and scaling based on the difference in distance.
Post Reply

Return to “Open Source Software”