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
- dense reconstruction
- real-time
- robust tracking
- pcl 1.8
- OpenCV
- cuda
- Eigen3
$ git clone https://github.com/QinZiwen/ModelFusion2.git
$ cd ModelFusion2
$ mkdir build; cd build; make; cd ..
- 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