Ray casting

A simple CPU + GPU implementations of ray casting with anti-aliasing.

Dependencies

OpenCV

Eigen

CUDA (tested with CUDA 11.0)

Building

Firstly, setup paths for OpenCV, Eigen and CUDA.

For Eigen, set an EIGEN flag to point to the root of the Eigen library.

For CUDA, set a CUDA_HOME flag to point to the root of the CUDA library.

Next, execute

cmake -DCMAKE_BUILD_TYPE=Debug .

for debug configuration or

cmake -DCMAKE_BUILD_TYPE=Release .

for release configuration.

Then

make -j 8

to build the project.

Data

The compatible data is a 1D array containing 3D TSDF values, with all dimensions being vectorized and saved into a binary file.

References

The implementations are heavily borrowed from here