Interactive scene reconstruction

  • You can try an experimental interactive scene reconstruction mode using the build/bin/rgbd-reconstructor program. 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_PCL cmake variable was enabled (by default on Linux) and using the —icp option.