Volumetric TSDF Fusion of Multiple Depth Maps

Refactored the code in Andy Zeng's Project to build with CMake on Ubuntu 16.04 with PCL 1.7 and CUDA 9.

CUDA/C++ code to fuse multiple registered depth maps into a projective truncated signed distance function (TSDF) voxel volume, which can then be used to create high quality 3D surface meshes and point clouds.

Demo

This demo fuses 50 registered depth maps from directory data/rgbd-frames into a projective TSDF voxel volume, and creates a 3D surface point cloud tsdf.pcd Note: Input depth maps should be saved in format: 16-bit PNG, depth in millimeters.

Build and run demo

Build the demo

mkdir build
cd build/
cmake ..
make

Run the demo

cd bin/
./main