HugoNip / PointCloudViewer

Point Clould Viewer

Introduction

This project shows how to use RGBD images and stereo images to generate pointcloud in the SLAM.
Besides, this project also contains files showing several simple operations of OpenCV package and image undistorting.

Requirements

OpenCV

Required Packages

OpenCV
OpenCV Contrib

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"

OpenGL Package (use pangolin)

Download

https://github.com/HugoNip/Pangolin

Install the dependency for pangolin (mainly the OpenGL)

sudo apt-get install libglew-dev

Sophus Package

Download

https://github.com/HugoNip/Sophus

Compile and Install

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

Compile this Project

mkdir build
cd build
cmake ..
make 

Run

Case 1

./imageBasic

Case 2

./undistortImage

Case 3

./jointMap

Case 4

./stereoVision

Reference

Source