Watertight and Simplified Meshes through TSDF Fusion

This repository contains a simply Python pipeline for obtaining watertight and simplified meshes from arbitrary triangular meshes, given in .off format. The approach is largely based on adapted versions of Gernot Riegler's pyrender and pyfusion; it also uses PyMCubes.

If you use any of this code, please make sure to cite the following work:

@article{Stutz2018ARXIV,
    author    = {David Stutz and Andreas Geiger},
    title     = {Learning 3D Shape Completion under Weak Supervision},
    journal   = {CoRR},
    volume    = {abs/1805.07290},
    year      = {2018},
    url       = {http://arxiv.org/abs/1805.07290},
}

See the GitHub repositories above for additional citations. Also check the corresponding project page.

The pipeline consists of three steps:

Scaling using 1_scale.py, which scales the meshes into [-0.5,0.5]^3 with optional padding.
Rendering and fusion using 2_fusion.py which in a first step renders views of each mesh, and uses these to peform TSDF fusion.
Simplification using MeshLab.

The result is illustrated below; note that the shape gets slightly thicker and the axes change (due to marching cubes).

Installation

The pipeline is mostly self-contained, given a working installation of Python. Additionally, it requires MeshLab for simplification.

The used pyfusion library requires CMake and Cython; optionally it uses CUDA or OpenMP for efficiency. pyrender requires Cython, as well. Additionally, it requires OpenGL, GLUT and GLEW, see librender/setup.py for details. PyMCubes requires Cython. All three libraries are included in this repository.

For building follow (illustrated for the GPU version):

# build pyfusion
# use libfusioncpu alternatively!
cd libfusiongpu
mkdir build
cd build
cmake ..
make
cd ..
python setup.py build_ext --inplace

# add it to the paths
export PYTHONPATH=/path/to/libfusiongpu:$PYTHONPATH
export LD_LIBRARY_PATH=/path/to/libfusiongpu:$LD_LIBRARY_PATH

cd ..
# build pyrender
cd librender
python setup.py build_ext --inplace

cd ..
# build PyMCubes
cd libmcubes
python setup.py build_ext --inplace

cd ..
export PYTHONPATH=/path/to/librender:$PYTHONPATH

Usage

Usage is illustrated on the shipped examples in examples/0_in taken from ModelNet.

First, scale the models using:

python 1_scale.py --in_dir=examples/0_in/ --out_dir=examples/1_scaled/

Now the models can be rendered, per default, 100 views (uniformly sampled on a sphere) will be used:

python 2_fusion.py --mode=render --in_dir=examples/1_scaled/ --depth_dir=examples/2_depth/ --out_dir=examples/2_watertight/

The details of rendering can be controlled using the following options:

--n_views N_VIEWS     Number of views per model.
--image_height IMAGE_HEIGHT
                      Depth image height.
--image_width IMAGE_WIDTH
                      Depth image width.
--focal_length_x FOCAL_LENGTH_X
                      Focal length in x direction.
--focal_length_y FOCAL_LENGTH_Y
                      Focal length in y direction.
--principal_point_x PRINCIPAL_POINT_X
                      Principal point location in x direction.
--principal_point_y PRINCIPAL_POINT_Y
                      Principal point location in y direction.
--depth_offset_factor DEPTH_OFFSET_FACTOR
                      The depth maps are offsetted using
                      depth_offset_factor*voxel_size.
--resolution RESOLUTION
                      Resolution for fusion.
--truncation_factor TRUNCATION_FACTOR
                      Truncation for fusion is derived as
                      truncation_factor*voxel_size.

During rendering, a small offset is added to the depth maps. This is particular important for meshes with thin details, as for example the provided chairs. Essentially, this thickens the structures. In the code, the offset is computed as

voxel_size = 1/resolution
offset = depth_offset_factor*voxel_size

Now, fusion can be run using

python 2_fusion.py --mode=fuse --in_dir=examples/1_scaled/ --depth_dir=examples/2_depth/ --out_dir=examples/2_watertight/

For fusion, the resolution and the truncation factor are most importance. In practice, the truncation factor may be in the range of [0, ..., 15]; then, the truncation threshold is computed as

voxel_size = 1/resolution
truncation = truncatioN_factor*voxel_size

Note that rendering and fusion is splitted as rendering might not work on all machines, especially remotely (e.g. through ssh) on machines without monitor.

Finally, simplification is performed using meshlabserver; make sure to have it installed and run

python 3_simplify.py --in_dir=examples/2_watertight/ --out_dir=examples/3_out/

The result of all steps is illustrated in the screenshot above.

License

License for source code corresponding to:

D. Stutz, A. Geiger. Learning 3D Shape Completion under Weak Supervision. International Journal of Computer Vision (2018).

Note that the source code and/or data is based on the following projects for which separate licenses apply:

Please read carefully the following terms and conditions and any accompanying documentation before you download and/or use this software and associated documentation files (the "Software").

The authors hereby grant you a non-exclusive, non-transferable, free of charge right to copy, modify, merge, publish, distribute, and sublicense the Software for the sole purpose of performing non-commercial scientific research, non-commercial education, or non-commercial artistic projects.

Any other use, in particular any use for commercial purposes, is prohibited. This includes, without limitation, incorporation in a commercial product, use in a commercial service, or production of other artefacts for commercial purposes.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

You understand and agree that the authors are under no obligation to provide either maintenance services, update services, notices of latent defects, or corrections of defects with regard to the Software. The authors nevertheless reserve the right to update, modify, or discontinue the Software at any time.

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. You agree to cite the corresponding papers (see above) in documents and papers that report on research using the Software.

lsteiner91/mesh-fusion

Watertight and Simplified Meshes through TSDF Fusion

Installation

Usage

License