1. ROS
2. turtlebot_gazebo turtlebot_world.launch
3. turtlebot_gazebo amcl_demo.launch
4. OpenCV with cuda
5. Qt 5.13 or higher
6. Boost
7. Cuda 9.0 or higher
8. Eigen 3.0
9. OpenMesh
10. glog
11. ceres

1. cmake
2. make -j14

or you can use vscode with cmake extension.

1. new console input "roslaunch turtlebot_gazebo turtlebot_world.launch"
2. new console input "roslaunch turtlebot_gazebo amcl_demo.launch"
3. new console input "Sn3DCarScan_node"

1. using "kinect fusion lib " to rebuild. fork https://github.com/chrdiller/KinectFusionLib
2. using "robust point cloud registration" to registration two rangdata. fork https://github.com/ethz-asl/robust_point_cloud_registration

1. render the rebuilded mesh by vulkan.