rgbd_rtk

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RGB-D Reconstruction Toolkit

// repository documentation

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# Natalnet/LPR RGB-D Reconstruction Toolkit

Introduction
------------

A set of utility code built by the Natalnet/LPR group for 3D reconstruction
applications using RGB-D (e.g. Microsoft Kinect) cameras.

Requirements
------------

- OpenCV: www.opencv.org  (version = 3.X)
- OpenCV-contrib: https://github.com/opencv/opencv_contrib  (Same version as OpenCv)
- PCL: www.pointclouds.org (version 1.8)
- G2O: https://github.com/RainerKuemmerle/g2o/releases (version 20200410)
- ARUCO: https://sourceforge.net/projects/aruco/files/ (Version = 3.X)
- Eigen: http://eigen.tuxfamily.org/index.php?title=Main_Page (Version = 3.X)

It is recommended to install both dependencies from source. The following two links will redirect you to their official tutorials to do so.

> [Install OpenCV on Linux](https://docs.opencv.org/3.3.1/d7/d9f/tutorial_linux_install.html#linux-installation])

> [Compiling PCL from source on Linux](http://pointclouds.org/documentation/tutorials/compiling_pcl_posix.php)

Building On Ubuntu 20.04
------------
First, get the newest version of this repository by using the follwing command on your working directory.

```bash
git clone https://github.com/natalnet-lpr/rgbd_rtk.git
```

Go to the project folder

```bash
cd rgb_rtk
```

The fastest way to build the project and it requirements is using our `setup` script.

```bash
bash setup.sh -a -v
```

This gonna take a while (some hours depending on your computer settings).

After this, you must be able to execute the program files at the `build/bin` folder

Others Distros
------------

First, get the newest version of this repository by using the follwing command on your working directory.

```bash
cd /my_working _directory 
```

```bash
git clone https://github.com/natalnet-lpr/rgbd_rtk.git
```

Create a directory called build, and change directory to it.

```bash
mkdir build
``` 
```bash
cd build/
```

Inside of the build directory, run the cmake command so that it will create the necessary makefiles.

```bash
cmake ..
```

Then, compile the rgbt_rtk by using the make command. The -j4 is optional but it is recommended. With it your code will be compiled in 4 parallel tasks.

```bash
make -j4
```

```bash
sudo make install
```

License
------------

This code is distributed under the terms of the [BSD License](https://github.com/natalnet-lpr/rgbd_rtk/blob/master/LICENSE).

Authors
------------

Natalnet Laboratory for Perceptual Robotics, Federal University of Rio Grande do Norte, Brazil.

Contact: bruno.silva AT ect.ufrn.br

rgbd_rtk

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