wangxihao / sdf_tracker-ls

Compressed Voxel-Based Mapping Using Unsupervised Learning

README

Dependencies:

• eigen 3
• boost-filesystem
• cmake
• OpenNI2
• cuda

for OpenNI2, in a directory of your own choosing:

git clone https://github.com/OpenNI/OpenNI2.git
cd OpenNI2
make

see https://structure.io/openni

Building

Building the project should then be as simple as executing the following commands (from the project directory)

mkdir build
cd build
cmake ..
make

If you are using GCC greater than 5.4 you will get an error, since nvcc does not currently support any version higher than that

The sdf_tracker_app is a quite minimal example of the large-scale SDF_tracker in use and uses OpenNI2 to capture depth images.