G2LTex

This repository contains an implementation of Texture Mapping for 3D Reconstruction with RGB-D Sensor (CVPR2018) based on mvs-texturing. 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

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/.