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RobustPCLReconstruction

Demo video for an application in UAV-UGV collabrative SLAM

Overview

This repository contains the solvers based on our paper Robust Point Cloud Based Reconstruction of Large-Scale Outdoor Scenes in CVPR2019.

This is a c++ implementation based on strasdat/Sophus. The solvers' cpp files are in the test/ceres/ directory.

Dependency

• Eigen 3.3.0
• Google ceres

Quickstart

Assume the current directory is the root of this repository.

Compile

$ chmod +x ./scripts/run_cpp_tests.sh
$ ./scripts/run_cpp_tests.sh

Run

$ chmod +x ./scripts/run_robust_pcl_reconstruction_example.sh
$ ./scripts/run_robust_pcl_reconstruction_example.sh

Common problems

1 . For Ubuntu 16.04 LTS, the default version of Eigen is 3.2.9. Click to download Eigen 3.3.7 or download other Eigen 3.3.*, then (re)-compile ceres with the correct Eigen.

2 . ccache may not be installed by default. Simply install it.

$ sudo apt-get install ccache

About current release

The solver based on the Gaussian-Uniform mixture model is released. Please stay tuned for the solver based on the Cauchy-Uniform mixture model.