This is an implementation of KinectFusion, based on Newcombe, Richard A., et al. KinectFusion: Real-time dense surface mapping and tracking. It makes heavy use of graphics hardware and thus allows for real-time fusion of depth image scans. Furthermore, exporting of the resulting fused volume is possible either as a pointcloud or a dense surface mesh.

• Real-time fusion of depth scans and corresponding RGB color images
• Easy to use, modern C++14 interface
• Export of the resulting volume as pointcloud
• Export also as dense surface mesh using the MarchingCubes algorithm
• Functions for easy export of pointclouds and meshes into the PLY file format
• Retrieval of calculated camera poses for further processing

• GCC 5 as higher versions do not work with current nvcc (as of 2017).
• CUDA 8.0. In order to provide real-time reconstruction, this library relies on graphics hardware. Running it exclusively on the CPU is not possible.
• OpenCV 3.0 or higher. This library heavily depends on the GPU features of OpenCV that have been refactored in the 3.0 release. Therefore, OpenCV 2 is not supported.
• Eigen3 for efficient matrix and vector operations.

• Adjust CUDA architecture: Set the CUDA architecture version to that of your graphics hardware SET(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-O3 -gencode arch=compute_52,code=sm_52) Tested with a nVidia GeForce 970, compute capability 5.2, Maxwell architecture
• Set custom opencv path (if necessary): SET("OpenCV_DIR" "/opt/opencv/usr/local/share/OpenCV")

#include <kinectfusion.h> // Define the data source XtionCamera camera {}; // Get a global configuration (comes with default values) and adjust some parameters kinectfusion::GlobalConfiguration configuration; configuration.voxel_scale = 2.f; configuration.init_depth = 700.f; configuration.distance_threshold = 10.f; configuration.angle_threshold = 20.f; // Create a KinectFusion pipeline with the camera intrinsics and the global configuration kinectfusion::Pipeline pipeline { camera.get_parameters(), configuration }; // Then, just loop over the incoming frames while ( !end ) { // 1) Grab a frame from the data source InputFrame frame = camera.grab_frame(); // 2) Have the pipeline fuse it into the global volume bool success = pipeline.process_frame(frame.depth_map, frame.color_map); if (!success) std::cout << "Frame could not be processed" << std::endl; } // Retrieve camera poses auto poses = pipeline.get_poses(); // Export surface mesh auto mesh = pipeline.extract_mesh(); kinectfusion::export_ply("data/mesh.ply", mesh); // Export pointcloud auto pointcloud = pipeline.extract_pointcloud(); kinectfusion::export_ply("data/pointcloud.ply", pointcloud);

For a more in-depth example and implementations of the data sources, have a look at the KinectFusionApp.

This library is licensed under MIT.