I mailed Thomas Whelan two weeks ago (the guy behind kintinuous) and he answered that all his code is closed source and there is no plan to release/disclose it.
> Date: Tue, 18 Feb 2014 06:40:42 -0800
> From: [hidden email] > To: [hidden email] > Subject: Re: [PCL-users] KINFU adding visual odometry > > I know about kintineous and read their papers, but so far, i have not found > their source code. you have any idea when they are going to release their > source code? > > > > > > > ----- > Maarten Bassier > PhD Student Ku Leuven, SLAM > -- > View this message in context: http://www.pcl-users.org/KINFU-adding-visual-odometry-tp4032347p4032349.html > Sent from the Point Cloud Library (PCL) Users mailing list mailing list archive at Nabble.com. > _______________________________________________ > [hidden email] / http://pointclouds.org > http://pointclouds.org/mailman/listinfo/pcl-users
Thats what i already feared. Well that means we have to create it ourselves.
Though, according to the developers, the kinect camera is not fit for camera tracking since it is integrated with an automated exposure time, which makes tracking alot harder. I belief it is still possbile, since the crew of Kintineous managed to do it.
Would ROS, OPENCV, OPENNI or FOVIS be the best option to start this kind of research ?
kinfu (and kinfu_large_scale) are really good places to start, especially if you're following any of the papers. You may also want to keep an eye on the work of Steinbruecker et al. upcoming at ICRA 2014, which has a planned source code release; http://www.youtube.com/watch?v=7s9JePSln-M.