A package to reconstruct the environment from a sequence of RGBD images.

• Author: Carter DiOrio
• Portfolio Post: https://www.cdiorio.dev/projects/sfm/
• Initially Published: 3/15

Requirements

• C++23
• Eigen
• Sophus
• Ceres
• OpenCV
• Boost

Reconstruct

Reconstruct is the main executable built by this project.

• It can be run with reconstruct --data <path to data directory> --vocab <path to DBoW2 vocab file>
• The data directory contains a series of numbered color_N and depth_N images from 0 to N.
• The vocabulary file needs to be compatible with DBoW2 see https://github.com/dorian3d/DBoW2 for how to generate one.
• Outputs a file with a dense X Y Z R G B point cloud file