This repository contains the implementation of "Texture Mapping for 3D Reconstruction with RGB-D Sensor (CVPR2018)" based on mvs-texturing. Due to the agreement with other company, some parts can only be released in the form of .so files. More information and the paper can be found on our group website and Qingan's homepage.

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}
}

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

We need to modify the configuration file config.yml before running the other datasets.

./G2LTex ../Data/apt0/apt0 ../Data/apt0/apt0.ply

• 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].

The code has following prerequisites:

• ubuntu 16.04
• gcc (5.4.0)
• OpenCV (2.4.10)
• Eigen (>3.0)
• png12
• jpeg

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
.
.
.

Some precomputed results can be found in the folder results/.