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

• 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: https://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

Compiling PCL from source on Linux

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

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

Go to the project folder

cd rgb_rtk

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

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

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

cd /my_working _directory 

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

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

mkdir build

cd build/

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

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.

make -j4

sudo make install

This code is distributed under the terms of the BSD License.

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

Contact: bruno.silva AT ect.ufrn.br