C++ code to fuse multiple object labels or mask into OctoMap, which can be then used for 3d reconstruction of objects. It works with and without depth inputs, so can be applied for depth insensible objects: texture-less (for stereo), black (for ir), and transparent.

• OpenCV (tested with OpenCV 2.4.8)
• Eigen
• octomap (modified version) (automatically resolved by build.sh)
• PCL (tested with PCL 1.7.1)

git clone https://github.com/wkentaro/label-fusion.git
cd label-fusion
./build.sh

./demo.py label_view  # see inputs
./demo.py label_fusion
./demo.py label_fusion --depth  # use depth

We also support fusing multiple masks:

./demo.py mask_view  # see inputs
./demo.py mask_fusion
./demo.py mask_fusion --depth  # use depth

MIT License (see LICENSE file).