KinectFusion

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

This is an implementation of KinectFusion, based on Newcombe, Richard A., et al. KinectFusion: Real-time dense surface mapping and tracking.

Dependencies

• CUDA 12.0. In order to provide real-time reconstruction.
• OpenCV 4.7. It requires to build OpenCV 4.7 with CUDA.
• Eigen3 for efficient matrix and vector operations.
• Glog.
• Ceres.
• Flann for nearest neighbor search.
• FreeImage.

Prerequisites

• Tum Dataset: https://vision.in.tum.de/data/datasets/rgbd-dataset/download
• Visual Studio 22
• GPU capable system
• Set custom opencv path (if necessary): SET("OpenCV_DIR" "C:/KinectFusion/Development/Libs/opencv-4.7.0/Build")

Usage

Path to the tum dataset would need to be adapted

    if (DATASET_FREIBURG1_XYZ) {
        filenameIn = std::string("../../Data/rgbd_dataset_freiburg1_xyz/");
    }
    else if (DATASET_FREIBURG2_XYZ) {
        filenameIn = std::string("../../Data/rgbd_dataset_freiburg2_xyz/");
    }
    else {
        filenameIn = std::string("../../Data/rgbd_dataset_freiburg1_xyz/");
    }