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‎.gitignore‎

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# GitIgnore
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# Non-Project Specific Files taken from https://github.com/github/gitignore
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################
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# C++ Specific #
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################
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# Prerequisites
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*.d
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# Compiled Object files
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*.slo
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*.lo
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*.o
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*.obj
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# Precompiled Headers
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*.gch
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*.pch
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# Compiled Dynamic libraries
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*.so
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*.dylib
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*.dll
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# Fortran module files
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*.mod
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*.smod
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# Compiled Static libraries
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*.lai
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*.la
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*.a
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*.lib
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# Executables
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*.exe
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*.out
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*.app
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##################
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# macOS Specific #
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##################
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# General
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.DS_Store
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.AppleDouble
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.LSOverride
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# Icon must end with two \r
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Icon
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# Thumbnails
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._*
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# Files that might appear in the root of a volume
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.DocumentRevisions-V100
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.fseventsd
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.Spotlight-V100
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.TemporaryItems
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.Trashes
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.VolumeIcon.icns
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.com.apple.timemachine.donotpresent
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# Directories potentially created on remote AFP share
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.AppleDB
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.AppleDesktop
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Network Trash Folder
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Temporary Items
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.apdisk
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####################
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# Windows Specific #
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####################
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# Windows thumbnail cache files
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Thumbs.db
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ehthumbs.db
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ehthumbs_vista.db
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# Dump file
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*.stackdump
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# Folder config file
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[Dd]esktop.ini
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# Recycle Bin used on file shares
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$RECYCLE.BIN/
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# Windows Installer files
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*.cab
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*.msi
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*.msm
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*.msp
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# Windows shortcuts
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*.lnk
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######################
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# GNU/Linux Specific #
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######################
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*~
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# temporary files which can be created if a process still has a handle open of a deleted file
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.fuse_hidden*
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# KDE directory preferences
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.directory
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# Linux trash folder which might appear on any partition or disk
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.Trash-*
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# .nfs files are created when an open file is removed but is still being accessed
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.nfs*
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####################
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# Project Specific #
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####################
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build/
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cmake-build-debug/
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data/
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.idea/
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‎CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.0)
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project(KinectFusionLib)
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# Use modern C++
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set(CMAKE_CXX_STANDARD 14)
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# Setting output paths
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set(LIBRARY_OUTPUT_PATH ${CMAKE_BINARY_DIR})
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# ------------------------------------------------
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# Dependencies
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# ------------------------------------------------
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## CUDA
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find_package(CUDA 8.0 REQUIRED)
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IF (CUDA_FOUND)
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include_directories("${CUDA_INCLUDE_DIRS}")
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# Optional: Specify the arch of your CUDA hardware here
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SET(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-O3;-std=c++11 -gencode arch=compute_52,code=sm_52)
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ENDIF ()
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## OpenCV
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# Optional: Set OpenCV_DIR if you want to use a custom version of OpenCV
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SET("OpenCV_DIR" "/opt/opencv/usr/local/share/OpenCV")
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find_package(OpenCV 3.0 REQUIRED)
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if (OpenCV_INCLUDE_DIRS)
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include_directories("${OpenCV_INCLUDE_DIRS}")
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link_directories(${OpenCV_DIR}/lib)
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endif (OpenCV_INCLUDE_DIRS)
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## Eigen3
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find_package(Eigen3 REQUIRED)
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if (EIGEN3_INCLUDE_DIR)
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include_directories("${EIGEN3_INCLUDE_DIR}")
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endif (EIGEN3_INCLUDE_DIR)
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# ------------------------------------------------
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SET(CUDA_PROPAGATE_HOST_FLAGS OFF)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Weffc++")
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# Targets
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set(PROJECT_INCLUDE_DIR ${PROJECT_SOURCE_DIR}/include)
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set(PROJECT_SOURCE_DIR ${PROJECT_SOURCE_DIR}/src)
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include_directories("${PROJECT_INCLUDE_DIR}" "${PROJECT_SOURCE_DIR}/cuda/include")
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file(GLOB KinectFusion_SRCS "${PROJECT_SOURCE_DIR}/cuda/*.cu" "${PROJECT_SOURCE_DIR}/*.cpp")
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cuda_add_library(KinectFusion STATIC "${KinectFusion_SRCS}")
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target_link_libraries(KinectFusion "${OpenCV_LIBS}")

‎LICENSE.txt‎

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MIT License
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Copyright (c) 2018 Christian Diller
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.

‎README.md‎

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KinectFusion
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============
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This is an implementation of KinectFusion, based on _Newcombe, Richard A., et al._
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**KinectFusion: Real-time dense surface mapping and tracking.**
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It makes heavy use of graphics hardware and thus allows for real-time fusion of
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depth image scans. Furthermore, exporting of the resulting fused volume is possible either as a pointcloud or a dense surface mesh.
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Features
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--------
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* Real-time fusion of depth scans and corresponding RGB color images
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* Easy to use, modern C++14 interface
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* Export of the resulting volume as pointcloud
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* Export also as dense surface mesh using the MarchingCubes algorithm
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* Functions for easy export of pointclouds and meshes into the PLY file format
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* Retrieval of calculated camera poses for further processing
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Dependencies
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------------
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* **GCC 5** as higher versions do not work with current nvcc (as of 2017).
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* **CUDA 8.0**. In order to provide real-time reconstruction, this library relies on graphics hardware.
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Running it exclusively on the CPU is not possible.
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* **OpenCV 3.0** or higher. This library heavily depends on the GPU features of OpenCV that have been refactored in the 3.0 release.
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Therefore, OpenCV 2 is not supported.
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* **Eigen3** for efficient matrix and vector operations.
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Prerequisites
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-------------
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* Adjust CUDA architecture: Set the CUDA architecture version to that of your graphics hardware
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SET(CUDA_NVCC_FLAGS ${CUDA_NVCC_FLAGS};-O3 -gencode arch=compute_52,code=sm_52)
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Tested with a nVidia GeForce 970, compute capability 5.2, Maxwell architecture
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* Set custom opencv path (if necessary):
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SET("OpenCV_DIR" "/opt/opencv/usr/local/share/OpenCV")
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Usage
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-----
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```Cpp
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#include <kinectfusion.h>
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// Define the data source
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XtionCamera camera {};
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// Get a global configuration (comes with default values) and adjust some parameters
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kinectfusion::GlobalConfiguration configuration;
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configuration.voxel_scale = 2.f;
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configuration.init_depth = 700.f;
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configuration.distance_threshold = 10.f;
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configuration.angle_threshold = 20.f;
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// Create a KinectFusion pipeline with the camera intrinsics and the global configuration
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kinectfusion::Pipeline pipeline { camera.get_parameters(), configuration };
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// Then, just loop over the incoming frames
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while ( !end ) {
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// 1) Grab a frame from the data source
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InputFrame frame = camera.grab_frame();
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// 2) Have the pipeline fuse it into the global volume
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bool success = pipeline.process_frame(frame.depth_map, frame.color_map);
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if (!success)
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std::cout << "Frame could not be processed" << std::endl;
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}
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// Retrieve camera poses
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auto poses = pipeline.get_poses();
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// Export surface mesh
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auto mesh = pipeline.extract_mesh();
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kinectfusion::export_ply("data/mesh.ply", mesh);
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// Export pointcloud
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auto pointcloud = pipeline.extract_pointcloud();
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kinectfusion::export_ply("data/pointcloud.ply", pointcloud);
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```
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For a more in-depth example and implementations of the data sources, have a look at the [KinectFusionApp](https://github.com/chrdiller/KinectFusionApp).
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License
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-------
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This library is licensed under MIT.

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