Analysis Method for crack detection of pavement

about 100/m2

1点/10cm*10cm

The camera has to be mounted perfectly perpendicular to the surface of pavement.

Surface Normals

Estimating Surface Normals in a PointCloud

Keypoints and Feature descriptors PCL Tutorial at ICCV 2011

./test_feature_estimation robot.pcd -n 0.03

bool pcl::visualization::PCLVisualizer::addPointCloudNormals ( const typename pcl::PointCloud< PointT >::ConstPtr & cloud,
const typename pcl::PointCloud< PointNT >::ConstPtr & normals,
int level = 100,
double scale = 0.02,
const std::string & id = "cloud",
int viewport = 0
)

Add the estimated surface normals of a Point Cloud to screen.

Parameters:
cloud the input point cloud dataset containing the XYZ data
normals the input point cloud dataset containing the normal data
level display only every level’th point (default: 100)
scale the normal arrow scale (default: 0.02m)
id the point cloud object id (default: cloud)
viewport the view port where the Point Cloud should be added (default: all)

Definition at line 520 of file pcl_visualizer.hpp.

Viewer (PCL)

pcl_visualizer_demo.exe -n test_pcd.pcd

"-h           this help\n"
"-s           Simple visualisation example\n"
"-r           RGB colour visualisation example\n"
"-c           Custom colour visualisation example\n"
"-n           Normals visualisation example\n"
"-a           Shapes visualisation example\n"
"-v           Viewports example\n"
"-i           Interaction Customization example\n"

 

Input Data  (MMS-Aisan Technology)

カラー点群データについて【補足説明】

-90606.680,-5089.799,154.552,35.18327189,137.11078090,193.812,540879.2860,0.656,192,192,192
——————————————————————————–
色付き点群データは、カンマ区切り(CSV)で、以下に示す項目で格納されております。
(xyHBLh型の)x座標,y座標,H,B,L,h,GPS時刻,誤差、(RGB色)R値,G値,B値
○xyHBLh型の座標について、以下に説明致します。
・x :レーザ3次元データ平面直角座標系x値
・y :レーザ3次元データ平面直角座標系y値
・H :レーザ3次元データ標高値
・B :レーザ3次元データ緯度
・L :レーザ3次元データ経度
・h :レーザ3次元データ楕円体高
○RGB色のR値G値B値は、各々0〜255の範囲の値となります。
——————————————————————————–

conversion

header + Separated (Comma → Space)

X, Y, Z, R, G, B → X, Y, Z, RGB

Output Data

PCD File Format

 

# .PCD v0.7 – Point Cloud Data file format
VERSION 0.7
FIELDS x y z
SIZE 4 4 4
TYPE F F F
COUNT 1 1 1
WIDTH 5
HEIGHT 1
VIEWPOINT 0 0 0 1 0 0 0
POINTS 5
DATA ascii
1.28125 577.09375 197.9375
828.125 599.03125 491.375
358.6875 917.4375 842.5625
764.5 178.28125 879.53125
727.53125 525.84375 311.28125

 

 

 

C:\Users\survey2\Desktop\MMS-AIT\point cloud\conversion\scene2\L2_FrontRoad\Laser3D_Color_0004_C12-L2.txt

C:\Users\survey2\Desktop\MMS-AIT\photo\0702_201107301421_愛知工業大学様キャンパス\シーン2.files\Camera303_2011073015161332.jpg

03_2011073015161332

Alligator Cracks

 

 

 

 

 

 

 

 

 

 

Sobel

Sobel

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

スクリーンショット(2012-12-31 1.39.51)

 

 

 

 

 

 

 

 

 

 

 

from

Mitsubishi Electric Co.Jp including CAR PHOTO

MMS in English about Mitsubishi Electric Corp..

Laser models

SICK LMS 291

SICK HP