ModelFusion2

Introduction

Getting dense reconstruction based on kinfu_large_scale and orbslam2.

• kinfu_large_scale: https://github.com/PointCloudLibrary/pcl/tree/master/gpu/kinfu_large_scale
• orbslam2: https://github.com/raulmur/ORB_SLAM2

Key changes/features

• dense reconstruction
• real-time
• robust tracking

Dependencies

• pcl 1.8
• OpenCV
• cuda
• Eigen3

Compile

$ git clone https://github.com/QinZiwen/ModelFusion2.git
$ cd ModelFusion2
$ mkdir build; cd build; make; cd ..

Usage

• online kinectfusion by kinect2

$ ./bin/pcl_inline_kinfu_largeScale

• offline kinectfusion with TUM Database

$ ./bin/pcl_offline_kinfu_largeScale -eval ~/Database/rgbd_dataset_freiburg1_room/

• offline kinectfusion by orbslam2 to estimate camera pose

./bin/orbslam2TSDF ~/Project/ORB_SLAM2/Vocabulary/ORBvoc.txt ~/Project/ORB_SLAM2/Examples/RGB-D/TUM1.yaml ~/Database/rgbd_dataset_freiburg1_room/ ~/Database/rgbd_dataset_freiburg1_room/associated.txt