KinectFusion offline reconstruction code

Hello everyone, I am working with the KinectFusion. My question is: Do you have the code so that I can reconstruct the 3D model by given depth images? It means instead of processing the frames by real-time, I would like to capture all the depth image and then process frame-by-frame (offline reconstruction).

Thank you very much. Nguyen

[Kendir]

Hi Nguyen, Did you find the offline reconstruct code? And would you share how to do it?

[Ngo Nguyen]

Hi Kendir, I can reconstruct 3D object using MATLAB + CUDA. However, the quality cannot be perfect as in Microsoft SDK. You can leave the message for my page, I will answer if possible: 3D reconstruction

[xiaofa zhou]

您好 代码能够分享吗？

Answer 1

[Walter Roberson]

You can use the sensor package to get the data, and you can convert it to point cloud and then you could write the pointcloud to disk. Later (offline) you could read the pointcloud data and process it using the tools in the Computer Vision Toolbox, or other external tools.

[Ngo Nguyen]

Hi Walter, Thank you very much. I followed the example code pointcloud registration, and I finally got the rigid transformation matrix. Then, I used the pcmerge to update the world scene. My problem is I don't know how to store the information into the voxel grid using Truncated Signed Distance Function. My purpose is to update the volume representation and use raycast to display the 3D scene.

[Walter Roberson]

You are following something like http://jiakaizhang.com/project/real-time-3d-reconstruction/ ?

Looks like it could potentially get complicated: https://pdfs.semanticscholar.org/0c5d/c8a81bc993f2903a74f6885eabde1b79cdc1.pdf

[Ngo Nguyen]

Yes, that's right. I follow the paper 3D-reconstruction. After I got the merged pointclouds, I don't know how to obtain the TSDF. Besides, the function pcregrigid somtimes gives me wrong matrix. This is very difficult for me.

[Gaurav]

Hi @Ngo Nguyen , did you figure out how to perform volumetric integration in matlab (with TSDF). It would be very helpful for me if you can share how to do it.

[Ngo Nguyen]

Hi Gaurav, I can reconstruct 3D object using MATLAB + CUDA. However, the quality cannot be perfect as in Microsoft SDK. You can leave the message for my page, I will answer if possible: 3D reconstruction