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kangaroo's Introduction

Kangaroo is a CUDA wrapper that implements many computer vision and image processing algorithms.

Feel free to report any bugs or issues at our GitHub portal. You can find us at:
http://github.com/arpg/


- Sample Applications:
* Kinect Fusion
* Stereo Reconstruction

- Main Developers:
* Steven Lovegrove

kangaroo's People

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kangaroo's Issues

error compiling cu_model_refinement

I have no good clues to why this is happening. Let me know if i can provide any more information.

stdout

-- Configuring done
-- Generating done
-- Build files have been written to: /home/danielcanelhas/workspace/Kangaroo-bin
[ 2%] Building NVCC (Device) object kangaroo/CMakeFiles/kangaroo.dir//./kangaroo_generated_cu_sdffusion.cu.o
[ 5%] Building NVCC (Device) object kangaroo/CMakeFiles/kangaroo.dir//./kangaroo_generated_cu_anaglyph.cu.o
[ 7%] Building NVCC (Device) object kangaroo/CMakeFiles/kangaroo.dir//./kangaroo_generated_cu_bilateral.cu.o
[ 10%] Building NVCC (Device) object kangaroo/CMakeFiles/kangaroo.dir//./kangaroo_generated_cu_convert.cu.o
[ 12%] Building NVCC (Device) object kangaroo/CMakeFiles/kangaroo.dir//./kangaroo_generated_cu_index_buffer.cu.o
[ 15%] Building NVCC (Device) object kangaroo/CMakeFiles/kangaroo.dir//./kangaroo_generated_cu_model_refinement.cu.o
/home/danielcanelhas/workspace/Kangaroo/kangaroo/cu_model_refinement.cu(50) (col. 24): internal error: assertion failed: gen_initializer_constant: ran out of fields (/home/buildmeister/build/rel/gpgpu/toolkit/r5.5/compiler/edg/EDG_4.5/src/cp_gen_be.c, line 5237)

1 catastrophic error detected in the compilation of "/tmp/tmpxft_00000306_00000000-7_cu_model_refinement.cpp4.ii".
Compilation aborted.
Aborted (core dumped)
CMake Error at kangaroo_generated_cu_model_refinement.cu.o.cmake:303 (message):
Error generating file
/home/danielcanelhas/workspace/Kangaroo-bin/kangaroo/CMakeFiles/kangaroo.dir//./kangaroo_generated_cu_model_refinement.cu.o

make[2]: *** [kangaroo/CMakeFiles/kangaroo.dir/./kangaroo_generated_cu_model_refinement.cu.o] Error 1
make[1]: *** [kangaroo/CMakeFiles/kangaroo.dir/all] Error 2
make: *** [all] Error 2

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Kinfu output mesh disjoint

I have a trouble generating a mesh from Kinect Fusion. I can generate the output mesh, however the mesh seems to be segmented into many disjoint patches. Here is a visualization of the connected components in a mesh, every component is coloured differently:
image

Is there a way to fix this?

compilation using -std=c++11 and gcc 4.6 / 4.7

I had to use update-alternatives --config gcc to select version 4.6 due to CUDA not supporting 4.7 yet.

During compilation I got an error regarding the use of the -std=c++11 flag on the examples.

A workaround for my system (3.8.0-29-generic #42-Ubuntu x86_64) was to change
Kangaroo / applications / examples / CMakeLists.txt / line 5.
from set(CMAKE_CXX_FLAGS "-std=c++11 -g")
to set(CMAKE_CXX_FLAGS "-std=c++0x -g")

MarchingCubes.h compilation error

We're getting this compilation error consistently across three Ubuntu machines using gcc.
MarchingCubes.h:64:42: error: there are no arguments to ‘isfinite’ that depend on a template parameter, so a declaration of ‘isfinite’ must be available [-fpermissive]

In the source, it ther is a check whether compiler is MSVC. If so, it uses std::isinfinite. Simply changing the clause to __GNUC__ or MSVC seems to resolve the compilation problem.

Kinect fusion mesh artifacts

I am trying to scan an tabletop scene using KinectFusion. Everything works fine except for weird artifacts that appear at depth discontinuities. The surfaces at depth discontinuities are "extended" in the direction of the optical axis of the camera. Here is an example:

Front:
front

Side:
side1
side2

The maximum allowed angle between the viewing ray and surface normal is set to 75 degrees. I tried reducing that but then very few scene points are captured. Is there a way to solve the issue without sacrificing the coverage of the scene?

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