Cuda Photogrammetry

Structure from motion

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Sparse point cloud

Multiple view RGBD dense point cloud

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Dense point cloud

Monodepth using TensorRT with MiDaS v2 small model

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Cuda SGM stereo estimation

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Surface reconstruction using TSDF Fusion

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Build project

mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build build -j $(nproc)

Tools:

• G++-8
• CMake>=3.22
• Cuda>=10.2
• TensorRT>=8.2

Used third-party library:

• Eigen 3.3.4
• OpenCV 4.5.5
• Boost 1.65.1
• PCL 1.8
• Glog 0.5.0
• Gflags 2.2.1
• Ceres-Solver
• Sophus
• CudaSift