# infrared_3D_reconstruction
## 光激励红外三维重构目标检测
此项目是将光激励红外结合深度相机，联合机械臂自动扫查扫查系统，实现自动扫查与三维重构<br>
<img src="https://user-images.githubusercontent.com/54426524/163543969-5eef0645-95ee-4053-a975-aaa4c35f2fe9.PNG" height="290px">
<img src="https://user-images.githubusercontent.com/54426524/163543973-1bf3b3b7-81a2-4e2a-b0b4-ae56588ca05e.PNG" height="290px"><br>
## 代码环境:
+ depth camera astra SDK<br>
+ Open3D_v0.10.0<br>
+ OpenCV3416<br>
## 代码流程：
+ 标定红外系统、深度相机和机器人的变换关系<br>
+ 采集实验数据，包含红外图像、深度图像<br>
+ 三维重构+匹配<br>
## 实验结果
<img src="https://user-images.githubusercontent.com/54426524/163544509-78d6ee3d-0d8c-4aca-bc2f-cca8226b957e.PNG" width="320">
<img src="https://user-images.githubusercontent.com/54426524/163544515-513c394e-4ecb-44a9-9a5b-124f0d90bd2a.PNG" width="320">
<img src="https://user-images.githubusercontent.com/54426524/163544521-eaaed732-175a-4793-acda-e93f60a25552.PNG" width="320"><br>
光激励红外三维重构目标检测.zip （65个子文件） 
infrared_3D_reconstruction-main 
ThermoGroupSDKLib.dll 911KB reconstruction headerfile AstraCameraD2C.h 3KB key_handler.h 2KB MagCamera.h 1KB SerialPort.h 649B MagDevice.h 7KB Common.h 816B open3dAlgorithm.h 410B MagService.h 1011B AstraCamera.h 1KB CalibrateEyeInHand.h 1KB RealtimeSystem.h 439B Helpers.h 1KB mag_errorcode.h 1KB MakeFragments.h 426B d2cSwapper.h 2KB RegisterFragments.h 379B AdaptiveThreshold.h 181B SerialListener.h 287B IntegrateScene.h 361B Reconstruction.h 402B OptimizePoseGraph.h 384B ThermoGroupSDK.h 16KB LitDepthVisualizer.hpp 10KB FrameListener.h 3KB rainbowTable.h 172B typedef.h 13KB Visualizer.h 457B sourcefile Common.cpp 1KB MakeFragments.cpp 9KB RealtimeSystem.cpp 197B MagService.cpp 2KB MagDevice.cpp 19KB RegisterFragments.cpp 8KB OptimizePoseGraph.cpp 2KB open3dAlgorithm.cpp 3KB AdaptiveThreshold.cpp 842B IntegrateScene.cpp 2KB AstraCamera.cpp 7KB SerialListener.cpp 503B rainbowTable.cpp 11KB SerialPort.cpp 3KB CalibrateEyeInHand.cpp 14KB Visualizer.cpp 2KB AstraCameraD2C.cpp 15KB d2cSwapper.cpp 87B Reconstruction.cpp 1017B Helpers.cpp 346B MagCamera.cpp 5KB pip20220310_color.pcd 4.09MB pip20220310_grey.pcd 4.09MB MyMagCamera.cpp 4KB reconstruction.vcxproj 11KB pip20220310.pcd 9.89MB pip20220310_grey.ply 6.89MB main.cpp 14KB pip20220310.ply 16.69MB reconstruction.vcxproj.user 165B MyMagCamera.h 858B ThermoGroupSDKLib.dll 886KB reconstruction.vcxproj.filters 6KB pip20220310_color.ply 6.89MB ThermoGroupSDKLib_x64.lib 31KB README.md 1KB reconstruction.sln 1KB资源评论
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