This is official repository for Project for Real-Time Globally Consistent Dense 3D Reconstruction With Online Texturing
This is a project from LuVision SIGMA, Tsinghua University. Visit our website for more interesting works: http://www.luvision.net/
Related papers:
- Multi-Index Hashing for Loop closure Detection. International Conference on Multimedia Expo, 2017. Best Student Paper Awards.
- Beyond SIFT Using Binary features in Loop Closure Detection. IROS 2017.
- FlashFusion: Real-time Globally Consistent Dense 3D Reconstruction using CPU Computing. RSS 2018.
- Real-Time Globally Consistent Dense 3D Reconstruction With Online Texturing. TPAMI 2020.
Please include citation below if you find our project helpful.
@article{Dense3DReconstruction,
author={Han, Lei and Gu, Siyuan and Zhong, Dawei and Quan, Shuxue and Fang, Lu},
journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
title={Real-Time Globally Consistent Dense 3D Reconstruction With Online Texturing},
year={2022},
volume={44},
number={3},
pages={1519-1533},
doi={10.1109/TPAMI.2020.3021023}}
This project is released under the GPLv3 license. We only allow free use for academic use. For commercial use, please contact us to negotiate a different license by: fanglu at tsinghua.edu.cn
sudo apt-get install build-essential pkg-config cmake git
- First-to-install
sudo apt-get install ffmpeg libsuitesparse-dev libxmu-dev libgtk-3-dev libv4l-dev libglew-dev qtbase5-dev
- Glut
sudo apt-get install freeglut3-dev
- boost
sudo apt-get install libboost-all-dev
- Eigen3
sudo apt-get install libeigen3-dev
- Sophus
git clone https://github.com/strasdat/Sophus.git
cd Sophus && mkdir build && cd build
cmake .. && make -j3 && sudo make install
- Pangolin
git clone https://github.com/stevenlovegrove/Pangolin.git
cd Pangolin && mkdir build && cd build
cmake .. && make -j3 && sudo make install
- OpenNI2
sudo apt-get install libopenni2-dev
- librealsense (to use realsense, check Intel's website to install essential driver)
sudo apt-get install libfreenect-dev libglfw3-dev
git clone https://github.com/IntelRealSense/librealsense.git
cd librealsense && mkdir build && cd build
cmake .. && make -j3 && sudo make install
- OpenCV
sudo apt-get install libopencv-dev libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev
git clone https://github.com/opencv/opencv.git
cd opencv && git checkout 8f1356c && mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=RELEASE -DCMAKE_INSTALL_PREFIX=/usr/local -DWITH_TBB=ON -DWITH_LIBV4L=ON
-DWITH_QT=ON -DWITH_OPENGL=ON -DWITH_CUDA=OFF -DBUILD_PERF_TESTS=OFF -DBUILD_TESTS=OFF ..
make -j3 && sudo make install
sudo /bin/bash -c 'echo "/usr/local/lib" > /etc/ld.so.conf.d/opencv.conf'
sudo ldconfig
git clone https://github.com/THU-luvision/Dense3DReconstruction.git
cd Dense3DReconstruction && mkdir build && cd build
cmake .. &&make -j3
./FlashFusion $DataFolder $ParametersFile Resolution inputID
For each input parameter:
- $DataFolder: base folder containing test data or output data.
The basefolder should contain:
- calib.txt for calibration parameters
- associate.txt for input rgbd images
- groundtruth.txt for TUM RGBD dataset groundtruth data.
An example datafolder is provided here and here
-
$ParametersFile: input parameters, an example is given as settings.yaml
-
Resolution: Reconstruction voxel resolution, ranges from 0.005 to 0.04
-
InputMode:
0: offline data stored in DataFolder 1: Online data using ASUS Xtion 2: Online data using Intel Realsense
cd $SourceDirectory/build
./FlashFusion ~/Downloads/xtion/ ../settings.yaml 0.005 0
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