akshaythiru/mapping

Mapping

This is a linux package to create a global map of an environment using the D435 - Depth camera, and T265 - Tracking camera.

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes.

Prerequisites

The following packages are required for the project:

• Realsense SDK 2.0 - Used to interface with the cameras
• OpenCV 3.0
• CUDA - Used to run C code on NVIDIA GPUs
• GNUPlot - Used to display pointcloud data
• GNUPlot IO stream - Used to interface GNUPlot with C++
• Thrust - Data parallel primitives on GPU
• Boost - Collection of portable C++ source libraries

Installing

1. Change the current working directory to the location where you want the cloned directory to be made, and clone the GitHub repository

# Change to working directory
$ cd project-dir

# Clone the repository
$ git clone https://github.com/AkshayThiru/Mapping

2. Change to source directory and compile the code.

# Change to source directory
$ cd project-dir/src

# Compile the CPU version of the code
$ g++ -std=c++11 CPU_main.cpp -o CPU_main -lrealsense2 -lboost_iostreams -lboost_system -lboost_filesystem `pkg-config opencv --cflags --libs` -lpthread

3. Compile the GPU version of the code if applicable. CUDA version > 8.0 is required, and NVIDIA GPU should have compute capability > 2.0

# Compile the GPU version of the code
$ nvcc -std=c++11 GPU_main.cu -o GPU_main -lrealsense2 -lboost_iostreams -lboost_system -lboost_filesystem `pkg-config opencv --cflags --libs` -lpthread -Wno-deprecated-gpu-targets

4. Connect both the cameras and run the code.

# Run the CPU code
$ ./CPU_main

# Or run the GPU code
$ ./GPU_main

Authors

• T Akshay - Initial work - AkshayThiru

See also the list of contributors who participated in this project.