This is my implementation of KillingFusion. What works well:-

• Full GUI to view displacement field, current RGBD frame and SDF's mesh using Marching Cubes.
• Data Energy Term - Video
• Data Energy and Motion Regularizer Term - Video
• LevelSet Energy Term

What needs work:-

• Implement Rigid Registration. This is must, since number of iterations becomes very high with slightest displacement of object from its initial position and the data term of a voxel gets not gradient if voxel ends up too away from canonical SDF voxels.
• Balancing of Rigidity constraint energy with Data and Motion Regularizer term. Some notes on this issue are here

Fix path to compile FreeImage library in CmakeLists.txt and then run CMake.

• Move all code to CUDA.
• Fix CMakeList - FreeImage library hard coded path
• Cleanup of the documentation