Fuse multiple depth frames into a TSDF voxel volume.
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Volumetric TSDF Fusion of Multiple Depth Maps


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. Tested on Ubuntu 14.04 and 16.04.

Looking for an older version? See here.

This repository is a part of Andy's Code Collection.

Change Log

  • Nov. 1, 2017. Bug fix: tsdf2mesh.m now properly generates a mesh in camera coordinates instead of voxel coordinates.
  • Oct. 30, 2017. Notice: changed default weight threshold for SaveVoxelGrid2SurfacePointCloud in demo code to enable creating point cloud visualizations with only one depth frame.
  • Aug. 30, 2017. Bug fix: remove deprecated offsets from surface distance compute during integration.


  • NVIDA GPU with CUDA support
  • OpenCV (tested with OpenCV 2.4.11)


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.ply, which can be visualized with a 3D viewer like Meshlab.

Note: Input depth maps should be saved in format: 16-bit PNG, depth in millimeters.

./compile.sh # compiles demo executable
./demo # 3D point cloud saved to tsdf.ply and voxel grid saved to tsdf.bin

[Optional] This demo also saves the computed voxel volume into a binary file tsdf.bin. Run the following script in Matlab to create a 3D surface mesh mesh.ply, which can be visualized with Meshlab.

tsdf2mesh; % 3D mesh saved to mesh.ply

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