This repository contains the executable for the paper S. Plosz, A. Maccarone, S. McLaughlin, G. S. Buller and A. Halimi, "Real-Time Reconstruction of 3D Videos from Single-Photon LiDaR Data in the Presence of Obscurants," in IEEE Transactions on Computational Imaging, doi: 10.1109/TCI.2023.3241547, link.
Citation:
@ARTICLE{10034858,
author={Plosz, Sandor and Maccarone, Aurora and McLaughlin, Stephen and Buller, Gerald S. and Halimi, Abderrahim},
journal={IEEE Transactions on Computational Imaging},
title={Real-Time Reconstruction of 3D Videos from Single-Photon LiDaR Data in the Presence of Obscurants},
year={2023},
pages={1-14},
doi={10.1109/TCI.2023.3241547}}
The application performs depth and reflectivity estimation, denoising and 3D reconstruction of ToF data in real-time, and visualizes data in a 3D point cloud viewer.
The datasets for the demo can be downloaded from this link. This is real underwater LiDaR data acquired with a 192*128 SPAD array.
A video from the clear water experiment shows the reconstructed point-cloud along with images captured by RGB cameras:
vid05_Clearwater_SubFishSeaweed_sum32_LR.mp4
More videos from experiments in different AL (contaminated) water conditions can be found here.
- Windows computer (compiled with Visual Studio 2019 on Windows 10 x64)
- CUDA capable GPU (min. sm_50 Maxwell architecture)
- NVIDIA driver min. 452.39 (compiled with CUDA v11.6)
- Downloaded the binary datasets and extract them to the data folder.
- Edit config_quanticcam.cfg, set input_file for the data you want to process.
- Launch hw.algo2.exe.
- In the 3D viewer you can use the mouse to change the view.
- You can launch the application paused by supplying the -paused command line option. You can step the processing of a frame by pressing a button on one of the 2D views. Pressing space will switch between paused and continous execution, and pressing esc will exit.
- You can disable the 2D or 3D views in the config file by setting parameters enableVis2d or enableVis3d to 0.