KinectFusion

Code Structure

main.cu is the main file of the project. It initiates and executes the singleton Visualizer.h that involves the application logic. One can see different includes and object initializations in that file. updateImageFrame static function in the Visualizer class contains the pipeline for processing every frame. For fast development, we wrote the code in .cuh files. Some portions of the code are adapted from the exercises.

Used Libraries

• Eigen 3
• CUDA 10.2
• cuBlas
• FreeImage
• Kinect SDK 1.8
• glm 0.9.9.8
• glfw 3.3.2
• FreeGLUT

Other Dependencies

We created a dynamic link library for Eigen solver, as the solver class could not be compiled by the NVCC version we use. The library can be downloaded from here. It exports solve function and is only used in PoseEstimator.cuh.

Note on Normal Estimation

Currently, we do not use normals estimated in the raycasting. We instead use the backprojection pipeline from the rendered depth. We attempted to implement a trilinear interpolated version that can be seen in the cg01 branch, but did not use it in the final version.

Authors

• Ismet Melih Özbeyli
• Can Gümeli
• Johann Sutor