join_pointcloud

Join Point Cloud

This program does the following things:

• Compute the corresponding point cloud of a group of RGB-D images according to the camera intrinsics
• Join the point cloud of each image together to form a map according to the camera pose (camera extrinsics).

color folder contains the color image. depth folder contains the depth image. pose.txt is the camera pose record

Environment

Ubuntu 18.04LTS

Build

Execute the following commands in terminal (in the directory containing main.cc) to build the program

mkdir build
cd build
cmake ..
make

Run & Check Result

After building the program, there should be a executable file named join_pointcloud in the build folder.

The following command need to be executed in build folder

cp join_pointcloud ..
../join_pointcloud

Copy the executable to the same directory with depth, color and pose.txt so that the program can function normally. You can edit the source code to change where the program load data.

The program will generate a pcd file named map.pcd containing the result point cloud. To visualize the point cloud, execute the following command.

pcl_viewer map.pcd

If you do not have pcl_viewer installed, use the following command to install it

sudo apt install pcl-tools

The result should look like this

• sheared_ptr
• new operator in cpp
• aligned_allocator