3dReconstruct

3D reconstruction system capable of capturing comprehensive dense globally consistentmaps explored using a stereo camera.

1. What do I need to build it?

• Ubuntu
• CMake
• Eigen
• Pangolin
• OpenCV
• Ceres Solver
• PCL

2. How do I use it?

Clone the repository and catkin_make:

    git clone https://github.com/zYinji/3dReconstruct,git
    mkdir build
    cd build
    cmake ..
    catkin_make

Capture a stereo dataset. Launch it as follows:

./3dReconstruct folderName frameNumber