This repository is the implementation of "Seamless Texture Optimization for RGB-D Reconstruction".

Yanping Fu, Qingan Yan, Jie Liao, Huajian Zhou, Jin Tang, Chunxia Xiao. Seamless Texture Optimization for RGB-D Reconstruction. IEEE Transactions on Visualization and Computer Graphics, DOI:10.1109/TVCG.2021.3134105.

To test our algorithm. run G2LTex in command line:

./bin/SeamlessTex [DIR] [PLY] 

Params explanation: -PLY: The reconstructed model for texture mapping. -DIR: The texture image directory, include rgb images, depth images, and camera trajectory.

The parameters of the camera and the system can be set in the config file.

Config/config.yml

• Color frames (color_XX.jpg): RGB, 24-bit, JPG.
• Depth frames (depth_XX.png): depth (mm), 16-bit, PNG (invalid depth is set to 0).
• Camera poses (color_XX.cam): world-to-camera [tx, ty, tz, R00, R01, R02, R10, R11, R12, R20, R21, R22].

The code has following prerequisites:

• OpenCV (2.4.10)
• Eigen (>3.0)
• png12
• jpeg

All the parameters can be set in the file Config/config.yml as follows:

%YAML:1.0
depth_fx: 540.69
depth_fy: 540.69
depth_cx: 479.75
depth_cy: 269.75
depth_width: 960
depth_height: 540

RGB_fx: 1081.37
RGB_fy: 1081.37
RGB_cx: 959.5
RGB_cy: 539.5
RGB_width: 1920
RGB_height: 1080
.