SENG 499 Summer 2016 - DynFu {#mainpage}

Introduction

This repository serves as the home for the course SENG 499 offered at the University of Victoria in the Summer of 2016. The proposed project is to implement a system capabale of generating and continuously updating triangular meshes through the use of a RGBD camera, such as the Microsoft Kinect. Similar work has been done in the following papers.

• KinectFusion: Real-Time Dense Surface Mapping and Tracking
• DynamicFusion: Reconstruction and Tracking of Non-rigid Scenes in Real-Time

Building

Platforms

Tested on

• Windows 10 (MinGW64)
• Ubuntu 14.04 and 16.04
• OS/X It builds with no warnings once the Mac build system is merged, but the tests fail horribly due to some issue we suspect with Boost.Compute & OpenCL on Mac OSX.

Direct Dependencies

• Eigen 3
• Get the header-only Catch by copying catch.hpp to SENG499/include/catch.hpp
• Requires g++-5 and/or g++-6 (future proofing in travis-ci build matrices)
• OpenCV
• Boost
• Boost.Compute

Directions for Mac

This includes instructions for installing direct project dependencies and also for build environment dependencies. After installing all systems, cmake should work in your environment.

#####Command Line Tools for XCode

xcode-select --install

#####Boost Install Homebrew if not already installed

brew install boost

#####Boost.Compute

git clone https://github.com/boostorg/compute.git
copy headers to project: sudo cp -r ./compute/include/boost/* /usr/local/include/boost

#####Catch

git clone https://github.com/philsquared/Catch.git
copy headers to project: sudo cp ./Catch/single_include/catch.hpp /usr/local/include

#####OpenCV Download from here

Extract to location of your choice and open terminal there

cmake .
make 
make install

#####lippcv Download from here

Extract and copy lib/* to /usr/local/lib

#####Eigen3

brew install eigen
sudo ln -s /usr/local/include/eigen3/Eigen /usr/local/include/Eigen

#####pkg-config

brew install pkg-config

Note: once #69 is merged in this process should build the entire project without errors. Warnings are still possible because of symlink issues. #69 contains details.

Directions for Windows

MinGW-w64 Compiler

• Download MinGW-w64 GCC v5.3.0 (POSIX threads, SEH exceptions) from here
• Extract to C:\MinGW
• Add C:\MinGW\bin to your path
• Open command prompt and verify that g++ --version displays output which begins with g++.exe (x86_64-posix-seh-rev0, Built by MinGW-W64 project) 5.3.0

Eigen3

• Download from here
• Copy Eigen directory to C:\MinGW\x86_64-w64-mingw32\include

#####OpenCV

• Download and compile OpenCV (instructions here)
• Copy OpenCV headers to C:\MinGW\x86_64-w64-mingw32\include
• Create directory called bin in repository, copy all OpenCV DLLs thereto

#####Boost

• Download and compile Boost (instructions here)
• Copy Boost headers to C:\MinGW\x86_64-w64-mingw32\include
• Copy files called libboost_*.a to C:\MinGW\lib

#####Boost.Compute

git clone https://github.com/boostorg/compute.git

Copy ./compute/include/boost/* to C:\MinGW\x86_64-w64-mingw32\include\boost

#####Catch

git clone https://github.com/philsquared/Catch.git

Copy ./Catch/single_include/catch.hpp to C:\MinGW\x86_64-w64-mingw32\include

Directions for Linux

Since we are using travis-ci it is possible that issues can be resolved by referencing the .travis.yml file on the master branch for solution inspirations.

git clone https://github.com/RobertLeahy/DynFu.git
cd DynFu
mkdir -p include
wget -O include/catch.hpp https://raw.githubusercontent.com/philsquared/Catch/master/single_include/catch.hpp
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt-get update
sudo apt-get install g++-5 libeigen3-dev libboost-all-dev libopencv-dev

Compile

Once the dependencies are satisfied...

cd DynFu
cmake .
make

Documentation

Available at http://seng499.rleahy.ca/

Use Doxygen and GraphViz

sudo apt-get install graphviz doxygen
cd SENG499
doxygen

Links

• Project Management - waffle.io
• Continuous Integration - travis-ci
• Datasets - MSRC RGB-D Dataset 7-Scenes

Contributing

Currently, no outside contributions are being accepted as the coursework is required to be our own.

License

See the file LICENSE in the root of the repository.