Tango Scene Reconstructor

This application is designed to scan small objects (e.g. a backpack, person, or desk) more accurately. It is not designed for large scans!

RECONSTRUCTION MODE

Press the record button to start the reconstruction of your environment.

Press the record button again to stop the reconstruction.

Reconstruction will be rested, if a new reconstruction is started.

OPTIMIZATION MODE

After stopping the reconstruction you can optimize the current reconstruction by pressing the OPTIMIZE button in the lower right corner. It may happen that the optimization runs for a few minutes depending of the size of the scan and causes the system warning dialog "Tango Scene Reconstructor isn't responding". Click "wait" to let the optimization process finish.

MODEL MODE

After the optimization stops, radio buttons appear in the upper left corner to toggle between the different optimized reconstructions.

SAVE

You can save the current reconstruction by clicking the SAVE button in menu. All generated files are stored in:

sdcard/../Documents/TangoSceneReconstructor/yyyyMMddHHmmss

You can choose between three different options:

1. pcl VTK mesh: If you activate this option, a mesh will be generated of each optimization. These meshes are stored as FTFSM_mesh.vtk, MFSM_mesh.vtk, RAW_mesh.vtk in ./.

WARNING: The meshes will be first generated and this will take a while.

2. single PCD point clouds: If you activate this option, each point cloud of the reconstruction and for each optimization method will be stored as a single *.PCD file in folder ./PCD

3. merged PCD point clouds: If you activate this option, the point clouds of the reconstruction of each optimization will be merged to one *.PCD file and are stored in ./.

ZIP & SHARE

If you have not saved the reconstruction yet, the SAVE Dialog will appear (for more details see above).

The saved files of the reconstruction will be zipped (may take a while) and a Dialog will appear where you can choose the application you’d like to use to share the archive with.

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TROUBLESHOOTING

1. Application crashes after a while

This may happen, if the RAM/memory is leaked or full. The reconstruction is lost. For bigger reconstructions, you should scan partly.

2. Reconstruction is a mess

You have to hold the device steady when application started and before reconstruction starts. You have to go very slowly and do not change the horizontal direction.

Also Tango motion tracking uses only image for pose estimation. If you are in an environment without (e.g. white walls) or not enough features, the motion tracking will fail and a reconstruction reset is necessary.

3. Optimization is a mess

This will happen if the Tango poses are poorly estimated. Please look above “Reconstruction is a mess”.

This application was developed by Anastasia Tondera as a Bachelor's Thesis project at the University Freiburg.

(c) Anastasia Tondera, Bastian Steder & Michael Ruhnke

This application is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License ( https://creativecommons.org/licenses/by-nc-nd/4.0/ )