Enhance 3d data reconstruction in resolution to make more realistic with Intel RealSense Camera D435i

[VictorGimenez]

Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for main branch).

My Question

Hi, I am new in 3D image processing field in general and I have a question,

Is there any possibility to get a hi-res 3D point cloud reconstruction through a Intel RealSense Camera D435i? I reproduced the execution of realsense_recorder.py and run_system.py scripts (they are all with the same original content from the repository) through these commands:

~/miniconda3/envs/3Dbce_env/lib/python3.12/site-packages/open3d/examples$ python realsense_recorder.py --record_rosbag --output_folder ../datasets/

~/miniconda3/envs/3Dbce_env/lib/python3.12/site-packages/open3d/examples$ python run_system.py --config config/realsense.json --make --register --refine --integrate

and to display the recorded .ply content:
pcd = o3d.io.read_point_cloud("~/miniconda3/envs/3Dbce_env/lib/python3.12/site-packages/open3d/examples/reconstruction_system/datasets/dataset1/realsense/scene/integrated.ply") o3d.visualization.draw_geometries([pcd])

I tried to record a long .bag file but the amount of images look like that was limited to 539 color/depth and the .bag file until 22.8GB and when I display the recorded the image this is the point cloud result:

And the unexpected result not so realistic at all:

My intention in the beginning is keep register a data with this bottle for test purposes in hi-res or any similar cylindrical object in shape/size, and very soon evolve to large objects such as big objects like a big buoy, barrels and several industrial objects for example to name a few but where they also have a hi-res data like this one for example this vase

Obs: This video I recorded through a distance varying between 15 - 30cm from the camera to the bottle and filming its bottom, middle and top in a slow speed, I have tried to use the turntable display and positioned the camera in stationary mode from a distance of 30cm from the bottle but it looks like that isn't possible to film in this way:
[Open3D WARNING] Read PLY failed: unable to open file: ~/miniconda3/envs/3Dbce_env/lib/python3.12/site-packages/open3d/examples/reconstruction_system/datasets/dataset1/realsense/scene/integrated.ply [Open3D WARNING] The number of points is 0 when creating axis-aligned bounding box.

Or how could I do to reconstruct 3d objects more closely with short distance with this camera?