HugoNip/RGBDDenseReconstruction

Introduction

This project shows creating dense map based on RGBD images.

Requirements

Eigen Package (Version >= 3.0.0)

Source

http://eigen.tuxfamily.org/index.php?title=Main_Page

Compile and Install

cd [path-to-Eigen]
mkdir build
cd build
cmake ..
make 
sudo make install 

Search Installing Location

sudo updatedb
locate eigen3

default location "/usr/include/eigen3"

OpenCV

Required Packages

OpenCV
OpenCV Contrib

gcc version: gcc (Ubuntu 5.4.0-6ubuntu1/~16.04.12) 5.4.0 20160609
g++ version: g++ (Ubuntu 5.4.0-6ubuntu1/~16.04.12) 5.4.0 20160609
OpenCV with version of both 3.0 and 4.0 tests well.
(Note: OpenCV will fail to compile with gcc/g++ of 9.2.0 version)

pcl Package

Install

sudo apt-get update
sudo apt-get install libpcl-dev pcl-tools

Solution for the error: cannot find vtkproj4 #1594

ln -s /usr/lib/x86_64-linux-gnu/libvtkCommonCore-6.2.so /usr/lib/libvtkproj4.so

octomap Package

sudo apt-get install liboctomap-dev octovis

Compile this Project

mkdir build
cd build
cmake ..
make 

Run

PointCloud

This method is based on statistical outlier removal filter and voxel filter.

./build/pointcloud_mapping

Polygon mesh

This method is based on moving least square (mls) and greedy projection (gp).

./build/surfel_mapping

./build/octomap_mapping

Reference

Source