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A library to produce a consistent mesh from the generated point cloud of a key-frame based Visual SLAM (or Structure-From-Motion).

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asadat/sparse_reconstruction

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sparse_reconstruction

Descritopn

A library to produce a consistent mesh from the generated point cloud of a key-frame based Visual SLAM (or Structure-From-Motion). (example reconstruction: https://github.com/asadat/sparse_reconstruction/wiki )

dependencies

Required libraries: - CGAL (www.cgal.org) - opengl - gmp (www.gmplib.org) - boost - maxflow solver (run install_maxflow_lib.sh to install this library)

Comment/uncomment the following line in CMakeLists.txt to disable/enable the methods for mesh visualization: set(VISUALIZATION ON)

Method

We use a simplified version of the approach introduced in the following paper (only the visibility constraints are used in the optimization):

Vu, Hoang-Hiep, et al. "High accuracy and visibility-consistent dense multiview stereo." IEEE transactions on pattern analysis and machine intelligence 34.5 (2012): 889-901.

License

The source code is released under the Apache 2.0 license

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A library to produce a consistent mesh from the generated point cloud of a key-frame based Visual SLAM (or Structure-From-Motion).

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