add color to the mesh

[vrabaud]

Maybe using:
http://svn.pointclouds.org/pcl/trunk/gpu/kinfu_large_scale/tools/standalone_texture_mapping.cpp

[JimmyDaSilva]

@vrabaud Do you know if someone gave this a try? Seems like we "just" need to convert the pointcloud to a colored .ply and call the standalone_texture_mapping.

It seems you made efforts to keep the color as much as you could. The created .ply cloud should have color if I understood this well:
https://github.com/wg-perception/reconstruction/blob/master/apps/mesh_object

Thanks again for the great contribution. Simple capture and reconstruction is not that easy to find.

[JimmyDaSilva]

Updated last post

[JimmyDaSilva]

I tried the standalone_texture_mapping and I can say that change isn't that simple actually. It's really meant to be a tool after kinfu.
During kinfu they sometimes take "snapshots": they save the camera_pose in a .txt file, and the rgb image. To texture the mesh they don't use the color in the .ply cloud, but the cameras poses and the rgb images saved during the kinfu process.

This can definitely be done as well during capture but it requires much more work than what I thought.