recon3D_simulator

Educational simulator for the reconstruction of virtual objects from a pair of images.

This example code aims to help students understand how and in what extend the various variables of a SfM scheme affect the final result.

Includes implementations of some algorithms from Kenichi Kanatani's book "Statistical Optimization for Geometric Computation".

The C++ code needs the Eigen3 and PCL-1.7 libraries.

Eigen Installation

You may find a stable version of Eigen here, or in the terminal type:

sudo apt install libeigen3-dev

PCL installation

You may find a stable version of PCL here, or in the terminal type:

sudo apt install libpcl-1.7

Download

• git clone https://github.com/dzermas/recon3D_simulator.git

Matlab version

• cd recon3D_simulator/Matlab
• run the shapesSimulation.m

C++ version

Compile

• cd recon3D_simulator/C++
• mkdir build
• cd build
• cmake ..
• make

Run

The program reads a text file with N rows and 3 columns (x,y,z) of the following format:

x0 y0 z0
x1 y1 z1
x2 y2 z2
...
xn yn zn

To run, execute the following from within the build folder:

./simulation ../../data/<input_text_file>.txt