This code extracts the local Manhattan World rotation and segmentation from
depth images in real-time. Here is a demo video for three different
RGB-D sequences:
If you are using this code for your research please cite
Real-time Manhattan World Rotation Estimation in 3D (Julian Straub,
Nishchal Bhandari, John J. Leonard, John W. Fisher III), In IROS, 2015.
This code depends on the following other libraries and was tested under Ubuntu 14.04.
- pcl 1.7 (and vtk 5.8)
- Opencv 2 (2.3.1)
- Eigen3 (3.0.5)
- cuda 5.5 or 6.5
- Boost (1.52)
The GPU kernels were tested on a Nvidia Quadro K2000M with compute capability 3.0.
Once you have those dependencies in place run
make checkout && make configure && make
This will checkout dependencies from some of my other repositories (jsCore, mmf, cudePcl) and compile everything to ./build/
libcudaPcl.so collects all the cuda code into one shared library. The rest of the code is in the form of header files.
- realtimeMF: infers the Manhattan Frame rotation and implied scene segmentation in real-time from depth images. If no input is specified via '-i', the program uses openni to grab frames from a connected RGB-D camera. The different modes refer to the different underlying models as described in the paper (see reference above).
Allowed options:
-h [ --help ] produce help message
-m [ --mode ] arg mode of the rtmf (direct, approx, vmf)
-i [ --in ] arg path to input file
-o [ --out ] arg path to output file
-d [ --display ] display results
-B [ --B ] arg B for guided filter
-T [ --T ] arg number of iterations
--eps arg eps for guided filter
-f [ --f_d ] arg focal length of depth camera
--nCGIter arg max number of CG iterations
--dt arg steplength for linesearch
--tMax arg max length for linesearch
- realtimeMF_lcm: same as realtimeMF except that the RGB-D frames are obtained as LCM (https://github.com/lcm-proj/lcm) messages.
Allowed options:
-h [ --help ] produce help message
-m [ --mode ] arg mode of the rtmf (direct, approx, vmf)
-o [ --out ] arg path to output file
-d [ --display ] display results
-B [ --B ] arg B for guided filter
-T [ --T ] arg number of iterations
--eps arg eps for guided filter
-f [ --f_d ] arg focal length of depth camera
--nCGIter arg max number of CG iterations
--dt arg steplength for linesearch
--tMax arg max length for linesearch