Interactive scene reconstruction
- You can try an experimental interactive scene reconstruction mode using the
build/bin/rgbd-reconstructorprogram. This is similar to the interative mapping of Intel RGBD but still in a preliminar stage. The relative pose between image captures is determined using SURF feature points matching and RANSAC.
In this mode, point clouds will progressively be aggregated in a single reference frame using a Surfel representation to avoid duplicates and smooth out the result.
- Note: As of version 0.5.0, you can enable ICP refinement if
NESTK_USE_PCLcmake variable was enabled (by default on Linux) and using the