KillingFusion
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 no proper 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
Installation
Fix path to compile FreeImage library in CmakeLists.txt and then run CMake.
ToDo
- Move all code to CUDA.
- Fix CMakeList - FreeImage library hard coded path
- Cleanup of the documentation