微软KinectFusion开源实现kinfu_remake

KinFu remake ============ This is lightweight, reworked and optimized version of Kinfu that was originally shared in PCL in 2011. Key changes/features: * Performance has been improved by 1.6x factor (Fermi-tested) * Code size is reduced drastically. Readability improved. * No hardcoded algorithm parameters! All of them can be changed at runtime (volume size, etc.) * The code is made independent from OpenCV GPU module and PCL library. Dependencies: * Fermi or Kepler or newer * CUDA 5.0 or higher * OpenCV 2.4.9 with new Viz module (only opencv_core, opencv_highgui, opencv_imgproc, opencv_viz modules required). Make sure that WITH_VTK flag is enabled in CMake during OpenCV configuration. * OpenNI v1.5.4 (for Windows can download and install from http://pointclouds.org/downloads/windows.html) Implicit dependency (needed by opencv_viz): * VTK 5.8.0 or higher. (apt-get install on linux, for windows please download and compile from www.vtk.org) Screenshot: * https://raw.githubusercontent.com/Nerei/kinfu_remake/master/perf-39.5fps-Tesla-C2070.png