PRBonn/vdbfusion

why vdbfusion appears some trianglemesh where there is no point hit?

qpc001 opened this issue · 6 comments

nachovizzo commented

Could you please elaborate a bit more?

qpc001 commented

你能详细说明一下吗？

Using the VLP-16 to build the mesh, the scene is looking like this:
hits

nachovizzo commented

Ok, now I understand. That's because vdbfusion employs TSDF, which represents a truncated signed distance field. The reason why you have a "thick" wall in the reconstruction is because of the truncation value, a bigger truncation value will produce "thicker" artifacts, and the opposite is also true.
You have 2 options:

  1. Reduce the truncation value sdf_trunc
  2. DIsable the filling_holes flag, that should also produce thinner surfaces
qpc001 commented

好的，现在我明白了。这是因为 vdbfusion 使用了 TSDF，它代表了一个截断的有符号距离场。重建中之所以有“厚”的墙是因为截断值，较大的截断值会产生“更厚”的伪影，反之亦然。 您有 2 个选项：

  1. 减少截断值sdf_trunc
  2. 禁用filling_holes标志，这也应该产生更薄的表面

When I go to the other side of the wall, it should be disappear, but it isn't.

nachovizzo commented

You could probably check Directional TSDF https://arxiv.org/pdf/1908.05146.pdf

qpc001 commented

You could probably check Directional TSDF arxiv.org/pdf/1908.05146.pdf

Thank you.