image_to_klg

This is the code for co-fusion and elastic-fusion, which can convert images to klg file. enjoy it!

The main.cpp is an using example for tum rgbd datasets.

how to combile

mkdir build
cd build
cmake ..
make

how to use for tum rgbd datasets

There need two params which are assiostions.txt(in which directroy also include rgb and depth dirs) and savepath
Example: ./toklg .../yourTumDataAssociationFile.txt .../youSaveFile.klg

By the way, the tum rgbd datasets can be downloaded at http://vision.in.tum.de/data/datasets/rgbd-dataset