search

Nerei / kinfu_remake

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

Color integration #15

Open gcuendet opened 7 years ago

gcuendet commented 7 years ago

I propose to integrate colors to kinfu_remake. Similarly to what is available in PCL kinfu, here is the color integration and color point cloud generation part. As a result, the point cloud now contains color information. The following two figures show a comparison of the same scene:

The code is work in progress and might not be fully optimized. Let me know what you think about it.

Nerei commented 7 years ago

Thanks. Quite large patch to review it quickly.

gcuendet commented 7 years ago

Hello. I also ported marching cube from old PCL kinfu, as requested in issues #10 and #12. Moreover, the colors are integrated to the generated mesh (in the same way as for the cloud). Here is a screenshot example of the results: kfusion_color_mesh

Currently, these changes are on a separate branch feature/MarchingCube. I was thinking maybe I should wait for you to review this pull request before I open a new one with the MarchingCube, what do you think?

Also, let me know if I can help in any way with the pull request or anything else ;)

ghost commented 7 years ago

Hi @gcuendet

Is what I can calculate tsdf for a cloud of points not for depth images ? You can help me with an idea

Thank you for your help.

447425299 commented 6 years ago

@gcuendet Thanks for you great job, And I have build your project successfully, but i do not know how to run it. What is the Incoming parameters？Thank for your help. image

447425299 commented 6 years ago

@PlayerUsr Could you tell me how to run the project, @gcuendet build. what is the argv[]? image