G2LTex
This repository contains the implementation of "Texture Mapping for 3D Reconstruction with RGB-D Sensor (CVPR2018)" based on mvs-texturing. Due to the agreement with other company, some parts can only be released in the form of .so files. More information and the paper can be found on our group website and Qingan's homepage.
Publication
If you find this code useful for your research, please cite our work:
Yanping Fu, Qingan Yan, Long Yang, Jie Liao, Chunxia Xiao. Texture Mapping for 3D Reconstruction with RGB-D Sensor. In CVPR. 2018.
@inproceedings{fu2018texture,
title={Texture Mapping for 3D Reconstruction with RGB-D Sensor},
author={Fu, Yanping and Yan, Qingan and Yang, Long and Liao, Jie and Xiao, Chunxia},
booktitle={Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
pages={4645--4653},
year={2018},
organization={IEEE}
}
How to use
1. Run
To test our algorithm. run G2LTex in command line:
./bin/G2LTex [DIR] [PLY]
Params explanation: -PLY
: The reconstructed model for texture mapping. -DIR
: The texture image directory, include rgb images, depth images, and camera trajectory.
The parameters of the camera and the system can be set in the config file.
Config/config.yml
How to install and run this code.
git clone https://github.com/fdp0525/G2LTex.git
cd G2LTex/bin
./G2LTex ../Data/bloster/textureimages ../Data/bloster/bloster.ply
We need to modify the configuration file config.yml
before running the other datasets.
./G2LTex ../Data/apt0/apt0 ../Data/apt0/apt0.ply
2. Input Format
- Color frames (color_XX.jpg): RGB, 24-bit, JPG.
- Depth frames (depth_XX.png): depth (mm), 16-bit, PNG (invalid depth is set to 0).
- Camera poses (color_XX.cam): world-to-camera [tx, ty, tz, R00, R01, R02, R10, R11, R12, R20, R21, R22].
3. Dependencies
The code has following prerequisites:
- ubuntu 16.04
- gcc (5.4.0)
- OpenCV (2.4.10)
- Eigen (>3.0)
- png12
- jpeg
4. Parameters
All the parameters can be set in the file Config/config.yml
as follows:
%YAML:1.0
depth_fx: 540.69
depth_fy: 540.69
depth_cx: 479.75
depth_cy: 269.75
depth_width: 960
depth_height: 540
RGB_fx: 1081.37
RGB_fy: 1081.37
RGB_cx: 959.5
RGB_cy: 539.5
RGB_width: 1920
RGB_height: 1080
.
.
.
5. Results
Some precomputed results can be found in the folder results/
.