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.
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.
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.
./3d_reconstruction --help
This project is licensed under the GPL 3.0 License - see the LICENSE file for details