Pixel To Voxel Projector

A C++/Python toolkit for reconstructing 3D objects from multiple camera views by mapping motion detection from 2D image space into 3D voxel space.

Features

• Process multiple camera feeds in real-time using RTSP streams
• Detect motion between consecutive frames
• Cast rays from changed pixels into a 3D voxel grid
• Accumulate brightness in overlapping regions to reconstruct moving objects
• Visualize the 3D reconstruction in real-time

Getting Started

Installation

Run the setup script to install all dependencies:

sudo ./setup.sh

Configuration

Configure your cameras in the camera_config.json file:

[
  {
    "camera_index": 0,
    "rtsp_url": "rtsp://admin:password@192.168.1.100:554/live",
    "camera_position": [0.0, 0.0, 0.0],
    "yaw": 0.0,
    "pitch": 0.0,
    "roll": 0.0,
    "fov_degrees": 60.0
  },
  ...
]

Running the Real-time Processor

1. Start the RTSP stream processor:

./build/rtsp_processor camera_config.json output_dir

2. Visualize the voxel grid in real-time:

python3 visualize_voxel_grid.py output_dir

Controls for Visualization

• Mouse: Look around
• W/A/S/D: Move camera
• Space/C: Move up/down
• +/-: Adjust threshold
• Q: Quit

Batch Processing

The project also supports batch processing of pre-recorded images using the original ray_voxel.cpp implementation:

./build/ray_voxel <metadata.json> <image_folder> <output_voxel_bin>

License

This project is licensed under the MIT License - see the LICENSE file for details.