www.kitware.fr
Aggregation of depth map according to ray potential function and projection of colors on final mesh


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          RECONSTRUCTION ALGORITHM
********************************************
-- Create an empty grid of voxels
  *** For each voxel, try to project it on each depth map.
  *** If the voxel can be projected, compute the 'real distance' between depth map
  and voxel position (with KRT matrix)
  *** Get the 2D position on current depth map
  *** Get 'depth value' associated to 2D position
  *** Use a TSDF (Truncated Signed Distance Function)* to compute the ray potential value
      with 'real distance' and 'depth value'
  *** Add it to the current voxel value.
-- Create an isocontour according to the filled grid using VTK



********************************************
            COLORATION ALGORITHM
********************************************
Cross all 3D points.
For each point, project it on all depth map and get the associated color.
Store results on a vector and compute mean and median values.
Also compute the number of depth map on which 3D points can be projected.
Each points have 3 associated scalars :
- MeanColoration (3 components colors - unsigned char)
- MedianColoration (3 components colors - unsigned char)
- NbProjectedDepthMap (1 component - int)



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            ReconstructionLib
********************************************
This library contains classes and static methods which can be used on both
projects (Reconstruction and Coloration)



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              DEBUG CUDA CODE
********************************************
1. Download and install NSight Visual Studio
---- Probably need to create nvidia account to download
---- https://developer.nvidia.com/gameworksdownload#?dn=nsight-visual-studio-edition-4-0-0
2. Follow this nvidia tutorial
---- http://docs.nvidia.com/nsight-visual-studio-edition/4.0/Nsight_Visual_Studio_Edition_User_Guide.htm#Debugging_CUDA_Application.htm%3FTocPath%3DCUDA%20Debugger|_____1



********************************************
                    TSDF
********************************************
** Eta is a percentage of rho ( 0 < Eta < 1)
** Delta has to be superior to Thick

                         'real distance' - 'depth value'
                                         |
                                         |
                                         |         ---------------  Rho
                                         |        /|             |
                                         |       /               |
                                         |      /  |             |
                                         |     /                 |
                                         |    /    |             |
                                         |   /                   |
                                         |  /      |             |
                                         | /                     |
                                         |/        |             |___________________________
---------------------------------------------------------------------------------------------
                                        /
                                       /
                                      /
------------------  Eta*rho          /
                 |                  /
                 |                 /
                 |                /
                 |               /
                 |              /
                 ---------------
                                <--------->
                                   Thick
                 <----------------------->
                            Delta