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https://github.com/GerhardR/kfusion

This is an implementation sketch of the KinectFusion system described by Newcombe et al.
https://github.com/GerhardR/kfusion

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This is an implementation sketch of the KinectFusion system described by Newcombe et al.

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README 

        

KFusion 0.4

=============



Copyright TU Graz, Gerhard Reitmayr, 2011 - 2013



This is an implementation sketch of the KinectFusion system described by

Richard Newcombe et al. in "KinectFusion: Real-Time Dense Surface Mapping and Tracking",

ISMAR 2011, 2011. It is a dense surface reconstruction and tracking framework

using a single Kinect camera as the input sensor.



http://research.microsoft.com/en-us/projects/surfacerecon/



KFusion is mainly written in CUDA with some interface code to display graphics output.



Requirements

------------



KFusion depends on the following libraries:



* http://www.edwardrosten.com/cvd/toon.html

* GLUT



On Windows use the MS Kinect SDK:



* http://www.microsoft.com/en-us/kinectforwindows/develop/overview.aspx



while on other platforms use libfreenect:



* http://openkinect.org/



and of course the CUDA 5 SDK by NVidia



* http://developer.nvidia.com/cuda



Install

-----



Use CMake to create build files for your platform. Some tips and tricks

- On Windows, make sure to use a 64-bit version of GLUT

- On Apple OSX, set CUDA_HOST_COMPILER to /usr/bin/g++



Altenatively, On Unix/OSX platforms, tweak the Makefile for your setup, then make.



Have a look at kfusion.h for a description of most parameters and kinect.cpp for setting them.



Todo

-----

- rendering

  - integrate with GL for additional 3D graphics

- write an inverse tracking method that moves the camera in the system

- save size through combined depth + 2D normal maps



Done

-----

- MSKinect SDK interface for Windows, libfreenect on other platforms

- rendering with static model view + projected RGB + interactive viewpoint

- registered depth input from libfreenect, uses more time unfortunately

- integration speed up

- CMake build system (contributed by Hartmut Seichter)

- fixed a substantial bug in tracking

- improved raycasting by an implementation closer to the paper. This also seems to take care of the following issue:

    - tracking works much better with a detailed model and sharp bounds on normals (0.9), problem for low resultion ?

- replaced libcvd with GLUT in the master branch

- created dedicated Image class templated on different memory locations,

  reduces most dependencies on libcvd

- removed all 3D grids to reduce code and maybe speed up as well

- 2D grid for volume integration is 40% faster

- fixed a difference in computing normals in raycasting and from kinect input... maybe influences tracking ?

- added a combined tracking & reduce implementation that saves a bit of time

- make configuration more automatic, compute dependent variables, scales for tracking

- make a version that uses one volume for both SDF + weight

  - split 32bit into 16bit float [-1,-1] and unsigned int for weight

- scaling for better optimization, didn't really do much, removed it again

- multi level tracking

- split

  - core operations

  - testing with extra volume etc

  - rendering

  - make OO ?

- speed up raycasting with mu step sizes

- reduction somewhat better through local memory -> shared memory

- test larger volume sizes

  - 3D operations over 2D grid - works nicely !

- pitched images no change, because they are already all pitched !

- template volume on data type and convert to/from float on the fly - did not change speed at all !

- ambient lighting

- bilateral filtering



Contributors

-------------

Hartmut Seichter