Revision history [back]

I don't think you can just "test" KinFu for that purpose, it is much more work. So I did it and I can share with you experimental code, but even an experienced programmer would need several days to get it working. What I can offer you:

• Old KinFu Wrapper: the processing is much more concurred. The original PCL-Code is more a prove of concept, very serial and the GPU is idle most of the time
• Projection an occupancy grid on the ground on the GPU and copy the results into the Host memory. Originally, KinFu approximates just the TSDF by a voxel grid (stored on the device memory)
  • the approach uses Kinfu large scale, the local map is copied into a dynamic growing global map
• finding the ground (plane coefficients, RANSAC)
• interface which is tested/used with the navigation stack

What is missing:

• rectification of the map
• including odometry of the rebot wheels (It really have to be done)
• Kalman filter or similar
• adjust to your robot
  • wlan optimization, due to the data traffic
• solving problems due to the lack of loop closure capability of the PCL implementation

See also: https://answers.ros.org/question/142461/pcl-kinfu-in-ros-hydro/