weders/RoutedFusion

Visualization

Closed this issue · 4 comments

talkenig commented

First, thanks for sharing the code for this great work.
I installed everything and was able to run successfully test_fusion. I saw the output files .volume.hf5 and .weights.hf5 but not sure how to visualize the results. I assume I need to load only the volume files and run marching cubes on those, but as I mentioned - not sure. Would appreciate very much if you could share a code snippet for visulaization.

MingwuZheng commented

You can just extract negative values to get a point cloud.

talkenig commented

Thanks for the quick response. So I get that the volume file is indeed the tsdf, taking the negative values would give me all points inside the shape and running marching cubes with a zero threshold will give the object mesh. Is that right or did I miss something?

MingwuZheng commented

Yes, but I'm not sure whether it is the best way to get an object mesh. As far as I know, marching cubes is enough for the current test case.

weders commented

Hi @talkenig,

thanks for your interest in RoutedFusion!

The following code snippet should allow you to extract and visualize the mesh from a .volume.hf5 file. Alternatively, you can also use another visualization tool (e.g. Open3D).

You need to check if tsdf has the correct shape and number of dimensions.

import h5py
from graphics.utils import extract_mesh_marching_cubes
from graphics.visualization import plot_mesh

file = os.path.join(path_to_your_file, 'xyz.volume.hf5')

with h5py.File(file, 'r') as hf:
    tsdf = hf['TSDF'][:]

mesh = extract_mesh_marching_cubes(tsdf)
plot_mesh(mesh)

Cheers!

  • 👍1
  • 🎉1