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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