通过Azure Kinect DK 基于Ubuntu18.04实现室内三维重建（一）

Ubuntu18.04上、Azure Kinect DK采集数据，实现室内三维重建

采用这个思路下的平台和设备环境的实现室内三维重建可能是大多数研究三维重建方向的初始思路。之前接触并作了一些简单的实践。就主要对过去工作中实践和看到的Github上的相关项目进行一个简单的记忆的梳理。

Github开源相关参考

ORB_SLAM：ORB-SLAM is a versatile and accurate Monocular SLAM solution able to compute in real-time the camera trajectory and a sparse 3D reconstruction of the scene in a wide variety of environments, ranging from small hand-held sequences to a car driven around several city blocks. It is able to close large loops and perform global relocalisation in real-time and from wide baselines.
ORB_SLAM2：ORB-SLAM2 is a real-time SLAM library for Monocular, Stereo and RGB-D cameras that computes the camera trajectory and a sparse 3D reconstruction (in the stereo and RGB-D case with true scale).
ORB_SLAM3：ORB-SLAM3 is the first real-time SLAM library able to perform Visual, Visual-Inertial and Multi-Map SLAM with monocular, stereo and RGB-D cameras, using pin-hole and fisheye lens models. In all sensor configurations, ORB-SLAM3 is as robust as the best systems available in the literature, and significantly more accurate.
RtabMap：RTAB-Map (Real-Time Appearance-Based Mapping) is a RGB-D, Stereo and Lidar Graph-Based SLAM approach based on an incremental appearance-based loop closure detector.
ElasticFusion：Real-time dense visual SLAM system capable of capturing comprehensive dense globally consistent surfel-based maps of room scale environments explored using an RGB-D camera.
png_to_klg：png to klg format convertor for ElasticFusion
MaskFusion：MaskFusion: Real-Time Recognition, Tracking and Reconstruction of Multiple Moving Objects
dvo_slam：Dense Visual Odometry and SLAM. These packages provide an implementation of the rigid body motion estimation of an RGB-D camera from consecutive images.
LSD-SLAM: LSD-SLAM is a novel approach to real-time monocular SLAM. It is fully direct (i.e. does not use keypoints / features) and creates large-scale, semi-dense maps in real-time on a laptop.
BundleFusion：Real-time Globally Consistent 3D Reconstruction using Online Surface Re-integration. The code was developed under VS2013, and tested with a Structure Sensor.
Ubuntu版本：BundleFusion_Ubuntu_V0、BundleFusion_Ubuntu_Pangolin
Indoor MappingThis indoor mapping system is based on ORB-SLAM2. Add point cloud map module, you can visualize your point cloud map during the SLAM process. We also provide some conversion tools, such as binary dictionary and octree map (IndoorMapping/tools/*).
maplab：an open, research-oriented visual-inertial mapping framework, written in C++, for creating, processing and manipulating multi-session maps.
DynaSLAM：DynaSLAM is a visual SLAM system that is robust in dynamic scenarios for monocular, stereo and RGB-D configurations. Having a static map of the scene allows inpainting the frame background that has been occluded by such dynamic objects.
MaskFusion：a real-time, object-aware, semantic and dynamic RGB-D SLAM system that goes beyond traditional systems that output a geometry-only map – MaskFusion recognizes, segments and assigns semantic class labels to different objects in the scene, while tracking and reconstructing them even when they move independently from the camera.

mve：The Multi-View Environment, MVE, is an implementation of a complete end-to-end pipeline for image-based geometry reconstruction.
mvs-texturing：Algorithm to texture 3D reconstructions from multi-view stereo images
openMVS：open Multi-View Stereo reconstruction library
openMVG：open Multiple View Geometry library. Basis for 3D computer vision and Structure from Motion.
SfMLearner：An unsupervised learning framework for depth and ego-motion estimation from monocular videos
COLMAP：COLMAP is a general-purpose Structure-from-Motion (SfM) and Multi-View Stereo (MVS) pipeline with a graphical and command-line interface.
CMVS-PMVS：This software (CMVS) takes the output of a structure-from-motion (SfM) software as input, then decomposes the input images into a set of image clusters of managable size.

Matterport：The Matterport3D V1.0 dataset contains data captured throughout 90 properties with a Matterport Pro Camera
MeshLab：MeshLab is an open source, portable, and extensible system for the processing and editing of unstructured large 3D triangular meshes. It is aimed to help the processing of the typical not-so-small unstructured models arising in 3D scanning, providing a set of tools for editing, cleaning, healing, inspecting, rendering and converting this kind of meshes.
PyMeshLab：PyMeshLab is a Python library that interfaces to MeshLab, the popular open source application for editing and processing large 3D triangle meshes.

ORBSLAM2_with_pointcloud_map：This is a modified ORB_SLAM2 with a online point cloud map module running in RGB-D mode. You can visualize your point cloud map during the SLAM process.
高翔视觉SLAM十四讲：从理论到实践 第二版
MVsion ：机器人视觉 移动机器人 VS-SLAM ORB-SLAM2 深度学习目标检测 yolov3 行为检测 opencv PCL 机器学习 无人驾驶

Recent_SLAM_Research
gaoxiang slambook
VINS-Fusion中文注释版
RGBD SLAMv2
ORB_SLAM2_dense
Poisson Surface Reconstruction for LiDAR Odometry and Mapping
Texture Mapping for 3D Reconstruction with RGB-D Sensor (CVPR2018)
SfM disambiguation with COLMAP

awesome-SLAM-list
awesome-slam：A curated list of awesome SLAM tutorials, projects and communities.
Awesome Public Datasets：A topic-centric list of HQ open datasets
Azure-Kinect-Samples
iPad LIDAR Scan OBJ Export：This project shows how to export an OBJ file of the 3D mesh created by an ARKit 3.5 Application with the iPad Pro (4th generation).