RGB-D reconstruction · Flagship case study
SpatialForge
SpatialForge turns calibrated RGB-D frames and supplied camera poses into TSDF geometry. I kept the scalar path as a reference, then made sparse fusion about 100× faster without changing the saved output.
About 210 seconds → 2 seconds on the documented fixture, with byte-identical output.
- Python
- NumPy
- RGB-D
- TSDF
- TUM RGB-D