How to get TSDF volume?

Dear authors, thank you for such awesome tool, it is working like a charm! I wonder, what is the fastest way to get TSDF volume as numpy array, as well its volume bounds?

I'm glad to hear you find the tool useful :) I actually have a vdb_to_numpy project which is not yet open-source. If you need it with some urgency please drop me an email and I will send the code privately.

In the meantime, your best friend is OpenVDB. I highly recommend building the project from source from the tip of master, since it has some important changes I had to make there. Make sure yo use the following flags when building (taken from here):

             -DCMAKE_POSITION_INDEPENDENT_CODE=ON
             -DOPENVDB_BUILD_PYTHON_MODULE=OFF
             -DOPENVDB_BUILD_VDB_PRINT=OFF
             -DOPENVDB_CORE_SHARED=OFF
             -DOPENVDB_CORE_STATIC=ON
             -DOPENVDB_CXX_STRICT=OFF
             -DUSE_CCACHE=ON
             -DUSE_STATIC_DEPENDENCIES=ON
             -DUSE_ZLIB=OFF

Once you have OpenVDB with the pyopenvdb bindings installed you must compile VDBFusion from the source. You can check the INSTALL Readme but is as simple as cloning this repo and doing make install on the root directory.

Once your dev environment is ready, the rest is quite easy and straight forward :)

import vdbfusion

vdb_volume = vdbfusion.VDBVolume(voxel_size,
                                 sdf_trunc,
                                 space_carving
dataset = Dataset(...)

for scan, origin in dataset:
    vdb_volume.integrate(scan, origin)

And then to play around with the TSDF volumes just:

tsdf = vdb_volume.tsdf
print(tsdf.evalActiveVoxelBoundingBox())

All the documentation for the python interface is at the OpenVDB website Is not super complete, but a good starting point.

For more examples on how to use this within vdbfusion you can also check:

vdbfusion/examples/python/vdbfusion_pipeline.py

Line 86 in 126143f

def _print_metrics(self):

Last but not least, if you are working with TSDF volumes you can also check my comments on This PR. I will add propper documentation to the project whenever I find the time

Let me know if this helps

Wow, thanks for fast response! I suppose all steps are clear for me. I will try today and give you feedback.