Awesome

Color-SHINE-MAPPING

It is an implementation to use MLP decoder to regress the color value using the same structure as the sdf regression in SHINE_MAPPING.For the colored point cloud data,I use R3LIVE to obtain colored point cloud and the sensor pose.And I record rosbag and play it to a script to convert it to kitti format.

Usage

Run the r3live to obtain the colored point cloud and the sensor pose.If you haven't installed r3live,you can download this rosbag and try it first.rosbag data
Run the script to convert the rosbag to kitti format.
```
python dataset/colorpoints_to_kitti_format.py
```
Modify your dataset path in color_incre_reg.yaml in the config directory. And run the shine_incre.py,since the batch is not implemented yet.
```
python shine_incre.py  config/color_incre_reg.yaml
```

Result

Raw Pointcloud	Reconstruction Results
<img src='https://github.com/ZorAttC/COLOR_SHINE_MAPPING/blob/master/IMG/2023-12-22%2020-36-17%20%E7%9A%84%E5%B1%8F%E5%B9%95%E6%88%AA%E5%9B%BE.png'>	<img src='https://github.com/ZorAttC/COLOR_SHINE_MAPPING/blob/master/IMG/2023-12-20%2022-38-00%20%E7%9A%84%E5%B1%8F%E5%B9%95%E6%88%AA%E5%9B%BE.png'>

Raw Pointcloud	Reconstruction Results
<img src='https://github.com/ZorAttC/COLOR_SHINE_MAPPING/blob/master/IMG/2023-12-22%2020-33-58%20%E7%9A%84%E5%B1%8F%E5%B9%95%E6%88%AA%E5%9B%BE.png'>	<img src='https://github.com/ZorAttC/COLOR_SHINE_MAPPING/blob/master/IMG/2023-12-20%2022-39-17%20%E7%9A%84%E5%B1%8F%E5%B9%95%E6%88%AA%E5%9B%BE.png'>

As you can see, the reconstruction quality is not so satisfying and I think there is more can be done to optimize the result.

Reference

Thanks to these great works!

SHINE_MAPPING

R3LIVE