hubert-tt/kinect-fusion

How hubert-tt/kinect-fusion works

KinectFusion is a CPU-oriented RGB-D capture and 3D reconstruction project. Its workflows include recording Kinect frames, aligning recorded RGB-D sequences into a trajectory and voxelized point cloud, and reconstructing a mesh from PLY/PCD input. The older main_old.cpp application also integrates frames into a TSDF/color volume and visualizes or exports the result. The sampled sources show these workflows, but do not establish a connection between the separate alignment and mesh-reconstruction applications; they are shown as distinct branches.

Main entry points: recon.cpp Cloud reconstruction · align.cpp RGB-D aligner · main_old.cpp Fusion application · record.cpp Frame recorder

Components 16

Frame capture

Frame recorder record.cpp
Kinect source src/FrameGetter/KinectFrameGetter.cpp
Recorded RGB-D record.cpp

RGB-D alignment

File frame source src/FrameGetter/FileFrameGetter.cpp
RGB-D aligner align.cpp
Pose trajectory align.cpp
Voxel point cloud align.cpp

Volume fusion

Fusion application main_old.cpp
TSDF color volume main_old.cpp
3D visualization/export main_old.cpp

Mesh reconstruction

PLY/PCD cloud
Cloud reconstruction recon.cpp
Filter and normals recon.cpp
Grid or Poisson recon.cpp
PLY mesh recon.cpp

Other components

User

Connections 16

User → Frame recorder: runs capture README.md
Frame recorder → Kinect source: reads frames record.cpp
Frame recorder → Recorded RGB-D: writes frames record.cpp
User → RGB-D aligner: runs alignment README.md
RGB-D aligner → File frame source: reads frames align.cpp
RGB-D aligner → Pose trajectory: writes poses align.cpp
RGB-D aligner → Voxel point cloud: accumulates points align.cpp
User → Fusion application: runs fusion
Fusion application → File frame source: reads frames main_old.cpp
Fusion application → TSDF color volume: integrates frames main_old.cpp
Fusion application → 3D visualization/export: visualizes and exports main_old.cpp
User → Cloud reconstruction: runs reconstruction README.md
PLY/PCD cloud → Cloud reconstruction: provides cloud recon.cpp
Cloud reconstruction → Filter and normals: filters and estimates recon.cpp
Cloud reconstruction → Grid or Poisson: reconstructs with recon.cpp
Cloud reconstruction → PLY mesh: writes mesh recon.cpp

Drawn by GitDiagram on November 11, 2026 from the repository's file tree, README and source files. Read as Markdown ·