verlab / mesh-vr-reconstruction-and-view

Automatic mesh reconstruction pipeline.

mesh-vr-reconstruction-and-view

This software were developed in the context of the EspeleoRobô project, supported by Instituto Tecnologico Vale (ITV). The EspeleoRobô is a robot designed to perform inspection in confined areas, such as mines and cavities.

Mesh Reconstruction Software

Installation guide

First, installing all dependencies in a terminal:

sudo apt-get install g++ cmake libboost-all-dev libeigen3-dev libgmp-dev libgmpxx4ldbl libmpfr-dev libpng-dev

Then, download CGAL Library (Version 4.11)!

Compile the cgal library by going into the unzipped folder and executing the following in a terminal:

mkdir build ; cd build ; cmake .. ; make ; sudo make install

Go to the surface_recon directory of this project and compile the mesh recon software:

mkdir build ; cd build ; cmake .. ; make

Output

The mesh generated by this algorithm can be readily imported to rendering platforms using .obj format with textures.

Applications

• The ROS implementation of this pipeline focused on online map generation for robot navigation can be accessed in https://github.com/ITVRoC/espeleo_planner.

Institution

Federal University of Minas Gerais (UFMG) Computer Science Department Belo Horizonte - Minas Gerais -Brazil

VeRLab: Laboratory of Computer Vison and Robotics https://www.verlab.dcc.ufmg.br