Documentation.Reconstructor History

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January 29, 2012, at 06:42 PM by 87.217.160.138 -
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January 29, 2012, at 06:27 PM by 87.217.160.138 -
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!! Interactive scene reconstruction
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* You can try an experimental interactive scene reconstruction mode using the @@build/bin/rgbd-reconstructor@@ program. This is similar to the interative mapping of [[http://ils.intel-research.net/projects/rgbd|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.