  Dense real-time tracking and mapping from RGB-D images is an important tool
for many robotic applications, such as navigation or grasping. The recently
presented Directional Truncated Signed Distance Function (DTSDF) is an
augmentation of the regular TSDF and shows potential for more coherent maps and
improved tracking performance. In this work, we present methods for rendering
depth- and color maps from the DTSDF, making it a true drop-in replacement for
the regular TSDF in established trackers. We evaluate and show, that our method
increases re-usability of mapped scenes. Furthermore, we add color integration
which notably improves color-correctness at adjacent surfaces.
