https://github.com/kzampog/kabamaru

Point cloud (RGBD) C++ tools for registration, 3D SLAM, box detection/fitting, and more.
https://github.com/kzampog/kabamaru

box-detection point-cloud reconstruction slam

Last synced: about 22 hours ago
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Point cloud (RGBD) C++ tools for registration, 3D SLAM, box detection/fitting, and more.

• Host: GitHub
• URL: https://github.com/kzampog/kabamaru
• Owner: kzampog
• License: mit
• Created: 2017-02-06T01:15:16.000Z (almost 8 years ago)
• Default Branch: master
• Last Pushed: 2019-05-10T01:38:13.000Z (over 5 years ago)
• Last Synced: 2023-10-20T21:05:22.944Z (over 1 year ago)
• Topics: box-detection, point-cloud, reconstruction, slam
• Language: C++
• Size: 54.7 KB
• Stars: 40
• Watchers: 3
• Forks: 13
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# kabamaru

A small C++ library for processing 3D point clouds. Supported functionality includes:

* A SLAM implementation (point cloud stitching using ICP and/or SIFT correspondences)

* Detection of boxes (cuboids) in point clouds

* Constrained box fitting for point cloud segments

### Dependencies:

* PCL

* OpenCV

* [SiftGPU](https://github.com/kzampog/SiftGPU)

* [namaris](https://github.com/aecins/namaris)

* CUDA (optional)