CUDA/C++ code to fuse multiple registered depth maps into a projective truncated signed distance function (TSDF) voxel volume, which can then be used to create high quality 3D surface meshes and point clouds.
Looking for an older version? See here.
This repository is a part of Andy's Code Collection.
This demo fuses 50 registered depth maps from directory data/rgbd-frames
into a projective TSDF voxel volume, and creates a 3D surface point cloud tsdf.ply
, which can be visualized with a 3D viewer like Meshlab.
./compile.sh # compiles demo executable
./demo # 3D point cloud saved to tsdf.ply and voxel grid saved to tsdf.bin
[Optional] This demo also saves the computed voxel volume into a binary file tsdf.bin
. Run the following script in Matlab to create a 3D surface mesh mesh.ply
, which can be visualized with Meshlab.
tsdf2mesh; % 3D mesh saved to mesh.ply