FYP_3D_Reconstruction

Dense 3D Reconstruction from UAV camera images.

Collaborative Final Year Project by Wenxin Liu and Xuelai Sun. HKUST.

TODO (Sun): Multi-cam reconstruction

TODO (Liu): Bundle Adjustment

• [fyp_3d_reconstruction] is the package src file. Should be put at path/to/catkin_ws/src/
• [minutes] includes meeting records
• [photos] includes picture resources

How to run the program:

1. changes the folder path of photos to your directory in main.cpp
2. run roscore in a new terminal
3. run rosrun fyp_3d_reconstruction fyp_3d_reconstruction in a new terminal
4. run rosrun rviz rviz in a new terminal
5. rewrite rviz frame to /world_frame and press add button at the lower left to choose marker topics to display

Files specification:

• fyp_3d_reconstruction: multi-cam, with problem, can run

(under _Wenxin:)

• fyp_3d_reconstruction_incomplete: multi-cam, cannot run, a newer version of fyp_3d_reconstruction
• fyp_3d_reconstruction_May_5: 2-view, complete
• fyp_3d_reconstruction: bundle development on fyp_3d_reconstruction_May_5, partially done, can run