search

Zielon / 3DScanning

Kinect Fusion for Markerless Augumented Reality on CUDA
13 stars 1 forks source link

PCL integration #79

Closed Zielon closed 5 years ago

Zielon commented 5 years ago

How to install PCL.

1) Go to the PCL releases and get AllinOne 1.9.1 x64 2) Install it, it has all necessary binaries 3) Set some environment variables:

image

PCL_ROOT is set during installation. You need to create PCL_INCLUDE and add all those 3rd party libs.

image

Libraries which have to be in release folder. I already copied them to our Unity.

Performance: I have around 11 frames, but when a mesh is generated it drops to 5 frames for let say 1 second. It can be improved later.

Edit: I was doing it on a voxels space 180^3

My release folder image

juanraul8 commented 5 years ago

General question, why do we use a flann library now?

Zielon commented 5 years ago

General question, why do we use a flann library now?

Because it is the best library for kd-tree NN search and PCL also uses it.

BarisYazici commented 5 years ago

General question, why do we use a flann library now? Because it is the best library for kd-tree NN search and PCL also uses it.

I think we don't need FLANN under our external-libs folder.

juanraul8 commented 5 years ago

Ok, I run the camera pose test and write down the basic statistics in the wiki related.

It is faster (realtime), but the error is bigger (probably related to parameters tunning).