Rintarooo / DTAM_Mapping

"DTAM: Dense Tracking and Mapping in Real-Time"[Newcombe+, 2011], Mapping only

DTAM implementation (Mapping only)

re-implementation for DTAM: Dense Tracking and Mapping[Newcombe+, 2011] for Mapping only using C++/CUDA

Usage

set up your environment using Docker (optional)

follow the instruction in docker/README.md

cat docker/README.md

download fountain-P11 dataset

follow the instruction in input/fountain/README.md

cat input/fountain/README.md

build

./run.sh

run

./build/main input/json/fountain.json

change parameters as you like

vim input/json/fountain.json

debug CUDA kernel (optional)

1. memory checker

cuda-memcheck ./build/main input/json/fountain.json

2. cuda-gdb

cuda-gdb ./build/main

set breakpoint at cuda kernel updateCostVolume

(cuda-gdb) b updateCostVolume

run program with argument

(cuda-gdb) r input/json/fountain.json