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About

This library delivers tools to build surface reconstructions from point cloud data and a simple viewer to display the results. Additionally, the found surfaces will be classified into predefined categories. The main aim of this project is to deliver fast and accurate algorithms for surface reconstruction with a strong focus on robotic applications such as teleoperation in unknown environments and localization.

Download and Compilation from Source

Step 0: Get the source code from our Github repository:

https://github.com/uos/lvr2 - develop

Linux (Ubuntu 18.04, 20.04, 22.04, 24.04)

Step 1: Install all required package dependencies:

sudo apt-get install build-essential \
     cmake cmake-curses-gui libflann-dev \
     libgsl-dev libeigen3-dev libopenmpi-dev \
     openmpi-bin opencl-c-headers ocl-icd-opencl-dev \
     libvtk7-dev libvtk7-qt-dev libboost-all-dev \
     freeglut3-dev libhdf5-dev qtbase5-dev \
     qt5-default libqt5opengl5-dev liblz4-dev \
     libopencv-dev libyaml-cpp-dev

A C++17 compiler is required.

Optional for NVIDIA graphics cards users

If you want to compile with CUDA support install the latest version of the CUDA toolkit, which you can find on NVIDIAs CUDA download site. To enable CUDA support, you need to compile the software with a compatible GCC version. All compatibilities are listed in CMakeModules/max_cuda_gcc_version.cmake.

Step 2: Configure and build from sources:

mkdir build
cd build
cmake .. && make

MacOS

Install the required libraries using Homebrew:

brew install boost boost-mpi cmake eigen flann gcc glew gsl hdf5 opencv lz4 qt vtk 

mkdir build
cd build
cmake .. && make

Usage

Your can experiment with the software using the provided dataset. For a simple reconstruction call in yout build directory:

bin/lvr2_reconstruct ../dat/scan.pts

in the root directory of the project. This will create a file called “triangle_mesh.ply” which can be displayed using the viewer application:

bin/lvr2_viewer triangle_mesh.ply

For more information, build the Doxygen documentation by calling

make doc

in the build directory.

Installation

After successful compilation, you will find the generated example tools in the ./bin/ directory. Optionally, you can install the library and header files to your system:

sudo make install

Use in your own CMake project

After installation, you can include the lvr2 project in your own CMake project as follows:

find_package(LVR2 REQUIRED)
add_definitions(${LVR2_DEFINITIONS})
include_directories(${LVR2_INCLUDE_DIRS})

add_executable(my_own_exec my_own_code.cpp)

target_link_libraries(my_own_exec
  ${LVR2_LIBRARIES}
)

Citation

Please reference the following papers when using the lvr2 library in your scientific work.

@inproceedings{wiemann2018,
  author={Wiemann, Thomas and Mitschke, Isaak and Mock, Alexander and Hertzberg, Joachim},
  booktitle={2018 Second IEEE International Conference on Robotic Computing (IRC)}, 
  title={{Surface Reconstruction from Arbitrarily Large Point Clouds}}, 
  year={2018},
  pages={278-281},
  doi={10.1109/IRC.2018.00059}}

ROS build

You can simply download this library and compile it inside your ROS workspace. The following ROS distributions are supported:

Version	Supported Distributions
ROS 1
ROS 2