微软KinectFusion开源实现

经过优化的KinectFusion开源实现，无需PCL点云库，只要有opencv2.4.9即可运行。代码已经简化，适合对照论文学习算法。

#include 
#include 
#include 
#include 
#include 
#include 

using namespace kfusion;

struct KinFuApp
{
    static void KeyboardCallback（const cv::viz::KeyboardEvent& event void* pthis）
    {
        KinFuApp& kinfu = *static_cast（pthis）;

        if（event.action != cv::viz::KeyboardEvent::KEY_DOWN）
            return;

        if（event.code == ‘t‘ || event.code == ‘T‘）
            kinfu.take_cloud（*kinfu.kinfu_）;

        if（event.code == ‘i‘ || event.code == ‘I‘）
            kinfu.iteractive_mode_ = !kinfu.iteractive_mode_;
    }

    KinFuApp（OpenNISource& source） : exit_ （false）  iteractive_mode_（false） capture_ （source）
    {
        KinFuParams params = KinFuParams::default_params（）;
        kinfu_ = KinFu::Ptr（ new KinFu（params） ）;

        capture_.setRegistration（true）;

        cv::viz::WCube cube（cv::Vec3d::all（0） cv::Vec3d（params.volume_size） true cv::viz::Color::apricot（））;
        viz.showWidget（“cube“ cube params.volume_pose）;
        viz.showWidget（“coor“ cv::viz::WCoordinateSystem（0.1））;
        viz.registerKeyboardCallback（KeyboardCallback this）;
    }

    void show_depth（const cv::Mat& depth）
    {
        cv::Mat display;
        //cv::normalize（depth display 0 255 cv::NORM_MINMAX CV_8U）;
        depth.convertTo（display CV_8U 255.0/4000）;
        cv::imshow（“Depth“ display）;
    }

    void show_raycasted（KinFu& kinfu）
    {
        const int mode = 3;
        if （iteractive_mode_）
            kinfu.renderImage（view_device_ viz.getViewerPose（） mode）;
        else
            kinfu.renderImage（view_device_ mode）;

        view_host_.create（view_device_.rows（） view_device_.cols（） CV_8UC4）;
        view_device_.download（view_host_.ptr（） view_host_.step）;
        cv::imshow（“Scene“ view_host_）;
    }

    void take_cloud（KinFu& kinfu）
    {
        cuda::DeviceArray cloud = kinfu.tsdf（）.fetchCloud（cloud_buffer）;
        cv::Mat cloud_host（1 （int）cloud.size（） CV_32FC4）;
        cloud.download（cloud_host.ptr（））;
        viz.showWidget（“cloud“ cv::viz::WCloud（cloud_host））;
        //viz.showWidget（“cloud“ cv::viz::WPaintedCloud（cloud_host））;
    }

    bool execute（）
    {
        KinFu& kinfu = *kinfu_;
        cv::Mat depth image;
        double time_ms = 0;
        bool has_image = false;

        for （int i = 0; !exit_ && !viz.wasStopped（）; ++i）
        {
            bool has_frame = capture_.grab（depth image）;
            if （!has_frame）
                return std::cout << “Can‘t grab“ << std::endl false;

            depth_device_.upload（depth.data depth.step depth.rows depth.cols）;

            {
                SampledScopeTime fps（time_ms）; （void）fps;
                has_image = kinfu（depth_device_）;
            }

            if （has_image）
                show_raycasted（kinfu）;

            show_depth（depth）;
            //cv::ims

 属性            大小     日期    时间   名称
----------- ---------  ---------- -----  ----
     目录           0  2014-04-15 23:19  kinfu_remake-master\
     文件        1582  2014-04-15 23:19  kinfu_remake-master\CMakeLists.txt
     文件        1492  2014-04-15 23:19  kinfu_remake-master\LICENSE.md
     文件        1116  2014-04-15 23:19  kinfu_remake-master\README.md
     目录           0  2014-04-15 23:19  kinfu_remake-master\apps\
     文件         454  2014-04-15 23:19  kinfu_remake-master\apps\CMakeLists.txt
     文件        4863  2014-04-15 23:19  kinfu_remake-master\apps\demo.cpp
     目录           0  2014-04-15 23:19  kinfu_remake-master\cmake\
     目录           0  2014-04-15 23:19  kinfu_remake-master\cmake\Modules\
     文件        2830  2014-04-15 23:19  kinfu_remake-master\cmake\Modules\FindOpenNI.cmake
     文件        2761  2014-04-15 23:19  kinfu_remake-master\cmake\Modules\FindOpenNI2.cmake
     文件        4671  2014-04-15 23:19  kinfu_remake-master\cmake\Targets.cmake
     文件        3083  2014-04-15 23:19  kinfu_remake-master\cmake\Utils.cmake
     目录           0  2014-04-15 23:19  kinfu_remake-master\kfusion\
     文件         222  2014-04-15 23:19  kinfu_remake-master\kfusion\CMakeLists.txt
     目录           0  2014-04-15 23:19  kinfu_remake-master\kfusion\include\
     目录           0  2014-04-15 23:19  kinfu_remake-master\kfusion\include\io\
     文件         971  2014-04-15 23:19  kinfu_remake-master\kfusion\include\io\capture.hpp
     目录           0  2014-04-15 23:19  kinfu_remake-master\kfusion\include\kfusion\
     目录           0  2014-04-15 23:19  kinfu_remake-master\kfusion\include\kfusion\cuda\
     文件       14543  2014-04-15 23:19  kinfu_remake-master\kfusion\include\kfusion\cuda\device_array.hpp
     文件       10616  2014-04-15 23:19  kinfu_remake-master\kfusion\include\kfusion\cuda\device_memory.hpp
     文件        1377  2014-04-15 23:19  kinfu_remake-master\kfusion\include\kfusion\cuda\imgproc.hpp
     文件        2548  2014-04-15 23:19  kinfu_remake-master\kfusion\include\kfusion\cuda\kernel_containers.hpp
     文件        1671  2014-04-15 23:19  kinfu_remake-master\kfusion\include\kfusion\cuda\projective_icp.hpp
     文件        2277  2014-04-15 23:19  kinfu_remake-master\kfusion\include\kfusion\cuda\tsdf_volume.hpp
     文件         177  2014-04-15 23:19  kinfu_remake-master\kfusion\include\kfusion\exports.hpp
     文件        2941  2014-04-15 23:19  kinfu_remake-master\kfusion\include\kfusion\kinfu.hpp
     文件        2154  2014-04-15 23:19  kinfu_remake-master\kfusion\include\kfusion\types.hpp
     目录           0  2014-04-15 23:19  kinfu_remake-master\kfusion\src\
     文件        7266  2014-04-15 23:19  kinfu_remake-master\kfusion\src\capture.cpp
............此处省略17个文件信息