RobustPCLReconstruction
Overview
This repository contains the solvers based on our paper Robust Point Cloud Based Reconstruction of Large-Scale Outdoor Scenes in CVPR2019.
This is a c++ implementation based on strasdat/Sophus. The solvers' cpp files are in the test/ceres/ directory.
Dependency
Quickstart
Assume the current directory is the root of this repository.
Compile
$ chmod +x ./scripts/run_cpp_tests.sh
$ ./scripts/run_cpp_tests.sh
Run
$ chmod +x ./scripts/run_robust_pcl_reconstruction_example.sh
$ ./scripts/run_robust_pcl_reconstruction_example.sh
Common problems
1 . For Ubuntu 16.04 LTS, the default version of Eigen is 3.2.9. Click to download Eigen 3.3.7 or download other Eigen 3.3.*, then (re)-compile ceres with the correct Eigen.
2 . ccache may not be installed by default. Simply install it.
$ sudo apt-get install ccache
About current release
The solver based on the Gaussian-Uniform mixture model is released. Please stay tuned for the solver based on the Cauchy-Uniform mixture model.