Introduction

DRViewer means Dense Reconstruction Viewer, it's basically a lightweight 3D visualization tool based on modern graphic pipeline and C++11, designed for Simultaneous localization and mapping(SLAM in brief) and realtime MVS, capable of viewing structured 3D point cloud, camera trajectory and multiple input sources(up to eight).

<p align = "center"> <img src="https://github.com/FinleyPan/DRViewer/blob/master/recon.gif" alt="recon_gif" height="300"> <img src="https://github.com/FinleyPan/DRViewer/blob/master/track.gif" alt="track_gif" height="300"> </p>

How to Build && Usage

after cloning this project, install following prerequisites firstly:

• GLFW:

$ sudo apt-get install libglfw-dev

• GLM

sudo apt-get install libglm-dev

• OpenCV 3(optionally for building the demo)

Then follow cmake routine to build the whole project,the library file and header file can be found in /path/to/install_directory:

$ cd /path/to/project_directory
$ mkdir build && cd build
$ cmake -DCMAK_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/path/to/install_directory ..
$ make && make install

Finally, you can add these files to your projects.

Interactive Operations on DRViewer

1 move mouse under left mouse button pressed: move the whole 3D scene.
2 move mouse under right mouse button pressed: rotate the whole 3D scene around x/y axis.
3 scroll mouse wheel: zoom in and out the whole 3D scene.
4 scroll mouse wheel under ctrl pressed: enlarge and shrink ths points.
5 press left/right arrow button: rotate the whole 3D scene around z axis.