Skip to content

kuwan2e/Flashfusion

 
 

Folders and files

NameName
Last commit message
Last commit date

Latest commit

 

History

4 Commits
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 

Repository files navigation

FlashFusion: An efficient dense 3D reconstruction that only relies on CPU computing.

Introduction

This is the official code repository for FlashFusion, an efficient dense 3D reconstruction system that only relies on CPU computing.

This is a project from LuVision SIGMA, Tsinghua University. Visit our website for more interesting works: http://www.luvision.net/

License

This project is released under the GPLv3 license. We only allow free use for academic use. For commercial use, please contact us to negotiate a different license by: fanglu at tsinghua.edu.cn

Citing

If you find our code useful, please kindly cite the following papers:

@inproceedings{han2018flashfusion,
  title={FlashFusion: Real-time Globally Consistent Dense 3D Reconstruction using CPU Computing.},
  author={Han, Lei and Fang, Lu},
  booktitle={Robotics: Science and Systems},
  volume={1},
  number={6},
  pages={7},
  year={2018}
}
@ARTICLE{8606275,
  author={Han, Lei and Xu, Lan and Bobkov, Dmytro and Steinbach, Eckehard and Fang, Lu},
  journal={IEEE Transactions on Robotics}, 
  title={Real-Time Global Registration for Globally Consistent RGB-D SLAM}, 
  year={2019},
  volume={35},
  number={2},
  pages={498-508},
  doi={10.1109/TRO.2018.2882730}}

Environment setup

Preliminary Requirements:

  • Ubuntu 16.04/18.04
  • Intel cpu

Compile

source prepare.sh
mkdir build
cd build
cmake ..
make -j

Data preparation

The format of offline dataset follows TUM RGBD Dataset. Example sequences can be downloaded at http://153.35.185.228:81/opensource_data/FlashFusion/dataset.zip Put the dataset at dataset/, organized as

dataset
|---- iclnuim
|---- tum
|---- xtion

Usage

sudo ./FlashFusion sensor_type calib_file voxel_size dataset_path

sensor_type: 0:dataset 1:realtime openni_camera(such as xtion) 2: realtime realsense_camera

Example:
  sudo ./FlashFusion 0 ../param/calib_tum.txt 0.005 ../dataset/tum/fr1_desk/
  sudo ./FlashFusion 0 ../param/calib_icl.txt 0.005 ../dataset/iclnuim/icl0n/
  sudo ./FlashFusion 0 ../param/calib_xtion.txt 0.005 ../dataset/xtion/

  sudo ./FlashFusion 1 ../param/calib_xtion.txt 0.005

About

No description, website, or topics provided.

Resources

License

Stars

Watchers

Forks

Releases

No releases published

Packages

No packages published

Languages

  • C++ 55.6%
  • Makefile 33.3%
  • GLSL 6.3%
  • CMake 3.1%
  • C 1.4%
  • Shell 0.2%
  • MATLAB 0.1%