/3d_reconstruction

A graduation project.

Primary LanguageC++GNU General Public License v3.0GPL-3.0

3d_reconstruction

This is a graduation project.

The goal of this project is reconstruct a 3d point cloud from RGBD data captured by Intel RealSense D455i camera.

Requirements

Operating System: Ubuntu 22.04 and macOS 13 are tested. Windows is not supported, use WSL2 instead.

CUDA support only works on Linux or WSL2 with NVIDIA GPU and Clang 14 or G++ 12 compiler. You need to install NVIDIA driver and CUDA toolkit 12 first.

Libraries:

  • librealsense2
  • PCL
  • glfw3
  • spdlog
  • lyra
  • fast_gicp
  • OpenMP

Compiler:

  • G++ 12
  • Clang 14
  • Apple Clang 14

For macOS, you need also install Xcode Command Line Tools from Apple and QT5 using Homebrew.

Compile

For Ubuntu 22.04:

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_COMPILER=clang ..
make

Change clang to g++-12 if you want to use G++ 12.

Add -DBUILD_WITH_CUDA=ON to enable CUDA support.

For macOS 13:

mkdir build
cd build
export Qt5_DIR=/opt/homebrew/Cellar/qt@5/{QT_VERSION}
cmake -DCMAKE_BUILD_TYPE=Release ..
make

Replace {QT_VERSION} with your installed version of QT5.

Run

./3d_reconstruction --help

License

This project is licensed under the GPL 3.0 License - see the LICENSE file for details