shidahe / realtime-manifold-mesh-reconstructor

Reconstructs a manifold mesh from sparse data in realtime. Sparse data can be obtained in realtime from a sparse feature-based SLAM algorithm.

This code implements the Incremental Reconstruction algorithm described in the paper Piazza, Enrico, Andrea Romanoni, and Matteo Matteucci. "Real-Time CPU-Based Large-Scale Three-Dimensional Mesh Reconstruction." IEEE Robotics and Automation Letters 3.3 (2018): 1584-1591.

Bibtex:

@article{piazza2018real,
  title={Real-Time CPU-Based Large-Scale Three-Dimensional Mesh Reconstruction},
  author={Piazza, Enrico and Romanoni, Andrea and Matteucci, Matteo},
  journal={IEEE Robotics and Automation Letters},
  volume={3},
  number={3},
  pages={1584--1591},
  year={2018},
  publisher={IEEE}
}

DEPENDENCIES

OpenCV (> 2.4.x)

sudo apt-get install libopencv-dev

Eigen3 (> 3.0.5)

sudo apt-get install libeigen3-dev

gmp

sudo apt-get install libgmp-dev

mpfr

sudo apt-get install libmpfr-dev

CGAL (>4.3)

From the CGAL installation manual at http://doc.cgal.org/latest/Manual/installation.html :

• clone the CGAL git repository in a folder (FOLDER) or download the source code from the official page https://github.com/CGAL/cgal/releases

cd FOLDER
git clone https://github.com/CGAL/cgal.git CGAL-{CGAL_VERSION}

• configure CGAL

cd CGAL-{CGAL_VERSION}/
cmake .

• build the CGAL libraries

make

• install the libraries

sudo make install

At the time of writing {CGAL_VERSION} is 4.9