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Nerei / kinfu_remake

Optimized and reworked version of Kinfu
BSD 3-Clause "New" or "Revised" License
339 stars 125 forks source link

Color integration #14

Closed gcuendet closed 8 years ago

gcuendet commented 8 years ago

Hi, Super nice job you have done with this kinfu_remake! Thanks a lot. Ultimately, I would like to export the reconstructed surface as a colored mesh. I know that marching cube needs to be ported from PCL version (which I was using so far), as mentioned in issues #12, but first I wanted to try to integrate the colors from the RGB camera (in a similar way as what is done in PCL) and get a colored point cloud.

I tried to define a color volume, and integrate the colors in it but it seems I have a few problems with GPU memory management... Specifically, I get a KinFu2 error: unspecified launch failure when I try to access 3D coordinates of points in the cloud (obtained with DeviceArray<Point> kfusion::cuda::TsdfVolume::fetchCloud(DeviceArray<Point>& cloud_buffer) const)

I know it's not extremely clear and I apologize for that. I guess I was wondering if maybe someone could point me in the right direction after looking at my implementation.

gcuendet commented 8 years ago

Finally found the memory problem! The color integration is not fully functional yet but this particular issue can be considered as solved.