DRViewer means Dense Reconstruction Viewer, it's basically a lightweight 3D visualization tool based on modern graphic pipeline and C++11, designed for Simultaneous localization and mapping(SLAM in brief) and realtime MVS, capable of viewing structured 3D point cloud, camera trajectory and multiple input sources(up to eight).

after cloning this project, install following prerequisites firstly:

• GLFW:

$ sudo apt-get install libglfw-dev

• GLM

sudo apt-get install libglm-dev

• OpenCV 3(optionally for building the demo)

Then follow cmake routine to build the whole project,the library file and header file can be found in /path/to/install_directory:

$ cd /path/to/project_directory
$ mkdir build && cd build
$ cmake -DCMAK_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/path/to/install_directory ..
$ make && make install

Finally, you can add these files to your projects.

1 move mouse under left mouse button pressed: move the whole 3D scene.
2 move mouse under right mouse button pressed: rotate the whole 3D scene around x/y axis.
3 scroll mouse wheel: zoom in and out the whole 3D scene.
4 scroll mouse wheel under ctrl pressed: enlarge and shrink ths points.
5 press left/right arrow button: rotate the whole 3D scene around z axis.