Support for other RGB-D Hardware?

[NicksonYap]

Hi,

I have Kinect 1, but have yet to try your code

It seems that Asus Xtion was used in your paper and officially supported.

The best Intel Realsense, the D435 model is going for 180 USD and seems to much better specs than the Asus or Kinect

It'll be awesome if Co-fusion supports Intel Realsense

Any suggestion how the Intel Realsense (or other sensors) should be supported?
I may purchase one and submit a PR

Thanks!

[511963041]

I found that -- https://github.com/Daichou/ElasticFusion/tree/rs2 -- has the realsense support for ElasticFusion. For Co-fusion is based on ElasticFusion, so the input stream is same. I changed a few codes and it worded well with realsense D435.

My environment：
win10 x64
vs15 x64 release
cuda 9.0

[NicksonYap]

@511963041

Great find! although ElasticFusion seems to already support RealSense natively

Can you share the commits here?

Would be great to see your code, or even submit a PR

[511963041]

run -- https://github.com/Daichou/ElasticFusion/tree/rs2 -- by @Daichou first,
compare the "logreader" in MainController.cpp between ElasticFusion（@Daichou ） and co-fusion.

As for my codes, I add some like - ini file read for rs settings- and -absolute paths-，replace may cause new problems.

Another suggest:
This branch -- https://github.com/Daichou/ElasticFusion/tree/rs2 -- does not add align process for Realsense, you should add that.

[Daichou]

hi @511963041, I add align proccess to https://github.com/Daichou/ElasticFusion/tree/rs2 this branch. Please take a look and give me some suggestion if you have time.

[ttsesm]

@NicksonYap @Daichou did you manage to run co-fusion with realsense. Is it by any chance possible to provide some hints what is needed?