sobfu

software for 3d reconstruction of non-rigidly deforming scenes using depth data, based on sobolevfusion

dependencies

• boost
• nvidia gpu with cuda >8.0
• opencv
• pcl 1.8.1
• vtk

installation

to install, run source setup.sh -a

usage

./build/bin/app /path/to/data /path/to/params <--enable-viz> <--enable-log> <--verbose>

• the data directory must include folders color and depth
• the folder params has files with recommended parameters for some of the scenes from volumedeform and killingfusion datasets

options

• with --enable-viz, screenshots from the pcl viewer will be logged in .png format to /path/to/data/screenshots
• with --enable-log, meshes computed from the model tsdf's via marching cubes will be logged in .vtk format to /path/to/data/meshes
• --verbose and --vverbose control verbosity of the solver

example reconstructions

reconstructions of some of the scenes from the volumedeform and killingfusion projects can be viewed on our youtube playlist

there is a large trade-off between frame rate and reconstruction quality--sample reconstructions ran at approx. 2fps

issues

• drift in longer scenes due to less than perfect registration
• topological changes

references

@InProceedings{Slavcheva_2018_CVPR,
author = {Slavcheva, Miroslava and Baust, Maximilian and Ilic, Slobodan},
title = {SobolevFusion: 3D Reconstruction of Scenes Undergoing Free Non-Rigid Motion},
booktitle = {The IEEE Conference on Computer Vision and Pattern Recognition (CVPR)},
month = {June},
year = {2018}
}