Point Cloud Fusion is a tool for fusing multiple point clouds into a unified, coherent model. This repository provides an easy-to-use interface for camera calibration and point cloud manipulation.

Ensure you have Python 3.10 installed. The repository uses Open3D, which is compatible specifically with this Python version.

1. Clone the GitHub repository:

   git clone [email protected]:voluview/fusion.git

2. Navigate into the cloned directory and install Poetry:

   cd fusion

3. Set up the virtual environment and install dependencies:

   poetry env use python3.10
   poetry install

   Note: Open3D requires Python 3.10; newer versions are not supported.

You can customize the tool's behavior by modifying the settings in core/config.py. This file contains various parameters related to camera setup, point cloud alignment, and more.

To achieve accurate point cloud fusion, you'll need to calibrate your cameras first.

1. Generate a ChaRuCo board: Utilize the utils/charuco_board.py script to generate a ChaRuCo board for calibration.

   make board

2. Run the calibration script:

   make cal

After calibrating the cameras, proceed to generate the point clouds.

1. Execute the point cloud script:

   make pcl