结构光扫描仪_C++_Cuda_下载.zip

# 3DUNDERWORLD-Structured-Light-Scanner [](https://travis-ci.org/theICTlab/3DUNDERWORLD-SLS-GPU_CPU) Structured light scanner is a tool to reconstruct point cloud from series of images lit by patterned light. As showing in the following image, patterns are projected to the object in the grid manner. Each cell in the grid has a unique sequence. The corresponding points can be extracted by decoding the sequences from both images.  In this version, the reconstruction process is reimplemented both on CPU and GPU. Both versions accelerate the reconstruction time. Especially the later one. ## Dependencies * OpenCV2 * CUDA (6.0+) * glm ## Howto ### How it works The main building blocks of the libraries are `ImageProcessor` and `Reconstructor`. Image processors take images, projector parameters and camera calibration parameters as input and produce `Buckets`. `Reconstructor` combines all the Buckets to generate the point cloud.  ### Compile and run demo binaries Demo binaries and data is included. A CMake script is included to compile the binaries and libraries. ```bash git clone --recursive https://github.com/theICTlab/3DUNDERWORLD-SLS-GPU_CPU.git cd 3DUNDERWORLD-SLS-GPU_CPU mkdir build cd build cmake .. make ``` If CUDA is detected in your system, the cmake flag `ENABLE_CUDA` is set to `on` by default, both CPU and GPU constructors are created in the `bin` folder. Otherwise, only CPU constructor will be generated. To run the binaries, you can pass the data folder and camera configuration files as parameters, or using the default value if you compiled with the commands above. You can use `cmake .. -DENABLE_CUDA=off` to disable CUDA if you don't want compile the GPU binary. ### Enable test A test using [Google Test Framework](https://github.com/google/googletest.git) is included in the build. To use the test, enable `GTEST` flag at configuration stage. ```bash git clone https://github.com/theICTlab/3DUNDERWORLD-SLS-GPU_CPU.git cd 3DUNDERWORLD-SLS-GPU_CPU mkdir build cd build cmake .. -DGTEST=ON make make test ``` Google test will be downloaded and compiled during the compilation stage. ### Build documentation Document with Doxygen is availabe to be built. Use `-DBUILD_DOC=on` cmake flag to enable documentation. Run `make doc`, the documentation will be generated in the `doc` directory of building path. ### Code coverage Code coverage report is provided by using [lcov](http://ltp.sourceforge.net/coverage/lcov.php). In order to get the code coverage report, enable both test and coverage flag: `-DGTEST=on -DCOVERAGE=on` and run `make coverage`. The coverage report will be generated in the `coverage` directory of building path. ### Run demo binary ```bash usage: ./SLS --leftcam=string --rightcam=string --leftconfig=string --rightconfig=string --output=string --format=string --width=unsigned long --height=unsigned long [options] ... options: -l, --leftcam Left camera image folder (string) -r, --rightcam Right camera image folder (string) -L, --leftconfig Left camera configuration file (string) -R, --rightconfig Right camera configuration file (string) -o, --output Output folder (string) -f, --format Suffix of image files, e.g. jpg (string) -w, --width Projector width (unsigned long) -h, --height Projector height (unsigned long) -?, --help print this message ``` The configuration files are `xml` files generated by OpenCV calibration tool, including intrinsic and extrinsic parameters. Note: --output is the name and location of the output file (either ply ot obj) e.g ./output/output.ply ### Grab the output Most of the outputs are written to the log file named `SLS.log`. To track the outputs while running the binary, run `tail -f sls.log` in another terminal of the same directory. ### Use the library This project also provides libraries that can be easily integrated into other projects. Here's a quick start code for using the libraries. An example of [CPU](https://github.com/theICTlab/3DUNDERWORLD-SLS-GPU_CPU/blob/dev/src/app/App.cpp) and [GPU](https://github.com/theICTlab/3DUNDERWORLD-SLS-GPU_CPU/blob/dev/src/app/App_CUDA.cu) applications are included in the repository. ### Run library on demo data Run the library using the included example images ```bash cd 3DUNDERWORLD-SLS-GPU_CPU mkdir test cd test mkdir Output cp -R ../data/alexander/leftCam ./ cp -R ../data/alexander/rightCam ./ cmake .. make ./bin/SLS --leftcam=./leftCam/dataset1 --rightcam=./rightCam/dataset1 --leftconfig=./leftCam/calib/output/calib.xml --rightconfig=./rightCam/calib/output/calib.xml --output=./Output/output.ply --format=jpg --width=1024 --height=768 ``` ## Known issues Since there's no good API for cameras, the camera acquisition is not implemented. However, interfaces are provided. We welcome you to implement your camera class and make a pull request to this project. Also please note that since the example data files are currently included in the repository, the size of repository is 300MB. It may take while to clone. ## Version Information ### [v4] Lead software developer: Qing Gu Researchers: Qing Gu, Charalambos Poullis Immersive and Creative Technologies Lab (http://www.theICTlab.org), Concordia University ### [v1-v3.2] Lead software developer: Kyriakos Herakleous Researchers: Kyriakos Herakleous, Charalambos Poullis Immersive and Creative Technologies Lab (http://www.theICTlab.org), Concordia University #### Part of the 3DUNDERWORLD project: http://www.3dunderworld.org ##### IMPORTANT: To use this software, YOU MUST CITE the following in any resulting publication:* ``` @article{GuHerakleousPoullis3dunderworld, title={A Structured-Light Scanning Software for Rapid Geometry Acquisition}, author={Gu, Qing and Herakleous, Kyriakos and Poullis, Charalambos}, journal={TBA}, year={2016} } @article{DBLP:journals/corr/HerakleousP14, author = {Kyriakos Herakleous and Charalambos Poullis}, title = {3DUNDERWORLD-SLS: An Open-Source Structured-Light Scanning System for Rapid Geometry Acquisition}, journal = {CoRR}, volume = {abs/1406.6595}, year = {2014}, url = {http://arxiv.org/abs/1406.6595}, timestamp = {Tue, 01 Jul 2014 11:58:08 +0200}, biburl = {http://dblp.uni-trier.de/rec/bib/journals/corr/HerakleousP14}, bibsource = {dblp computer science bibliography, http://dblp.org} } ```