Hi, thanks for the implement. It seems the pointcloud generated has double layers for every surface. There is some kind of thickness related to _trunc_margin. Setting self._trunc_margin = self._voxel_size will lead to many holes. How can I get a single layer mesh without thickness

Marching cubes algorithm generates fine but irregular faces. In order to get smooth and regular point faces maybe some more post-processing work needs to be done. I will try poisson surface reconstruction later.

python demo.py Traceback (most recent call last): File "demo.py", line 9, in

    import fusion
  File "tsdf-fusion-python/fusion.py", line 346
    xyz_t_h = (transform @ xyz_h.T).T
                         ^
SyntaxError: invalid syntax

I try to apply this TSDF Fusion on the ROBI Dataset, but I have troubles with the alignment of the frames and integration. The plane alignment seems to be right but I still have some offset in the plane.

It looks like the camera pose is not right, but I already used the same dataset/camera pose with TSDF from Open3D which worked flawlessly.

Does anyone have an idea, why it's not working correctly?

TSDF Volume from Open3D:

TSDF Volume/Mesh from this repo:

I visualized the depth map and it showed something like below:

Does anybody know why is it different from the common depth maps, such as those from Kinect, with all these waves on top of the view? Thanks.

Previous code only works with the default obs_weight =1!

Before pull request (I only run fusion on the first 100 images):

• obs_weight=1 (Default):

• obs_weight=0.1:

After pull request:

• obs_weight=0.1: same as the first figure.

Previously valid_pix did not check to make sure that the voxel was in front of the camera. This caused problems in the integration (it did not manifest in the provided example, but does in general).

Hey @andyzeng,

First off thanks for putting this code up here, it's been a really handy reference for getting my head around TSDFs.

I was hoping to use this code in a project I'm working on but I noticed that you haven't specified a license for this repo. If you didn't intend for this to be open source then no problem, that's your prerogative, but if not, any chance you could add a Licence.md? I'm sure you've been through this kind of thing before, but just in case, I found this to be a handy reference when I was choosing a license for a few of my repos: https://choosealicense.com/

Anyway, thanks again!

Hi Andy,

I forgot to un-indent the color constant self._b_const which meant it threw an error when using a gpu. I've now fixed it and tested that it runs correctly both on the cpu and gpu.

I've also added a method for extracting a point cloud from the voxel volume and saving it to disk as a ply file.

Cheers :)

I used blender to obtain RGBD images and camera internal and external parameters, but the reconstruction results were incorrect. The reconstruction results of each image were separated and could not be well overlapped. The following figure shows the reconstruction results of three groups of data.

What causes this? I hope you can answer it. Thank you

When I run my own dataset, I have problems that I don't understand。 What should I do？

Initializing voxel volume... Voxel volume size: 62 x 39 x 54 - # points: 130,572 Fusing frame 1/228 Traceback (most recent call last): File "/snap/pycharm-professional/306/plugins/python/helpers/pydev/pydevd.py", line 1496, in _exec pydev_imports.execfile(file, globals, locals) # execute the script File "/snap/pycharm-professional/306/plugins/python/helpers/pydev/_pydev_imps/_pydev_execfile.py", line 18, in execfile exec(compile(contents+"\n", file, 'exec'), glob, loc) File "/home/wang/tsdf-fusion-python-master/demo.py", line 55, in <module> tsdf_vol.integrate(color_image, depth_im, cam_intr, cam_pose, obs_weight=1.) File "/home/wang/tsdf-fusion-python-master/fusion.py", line 218, in integrate im_h, im_w = depth_im.shape ValueError: too many values to unpack (expected 2)

hello Andy, thank you for your wonderful contribution.

I tried a different data , and modified the voxel_size to 0.1 to avoid memory problems but i get this error

ValueError: Surface level must be within volume data range.

from the function

measure.marching_cubes_lewiner(tsdf_vol, level=0)

at

tsdf_vol.get_point_cloud()

thank you for your time

Thank you very much for your nice repo. How can I increase the resolution? According to your documentation: "from the 7-scenes dataset into a 405 x 264 x 289 projective TSDF voxel volume with 2cm resolution at about 30 FPS in GPU mode"

Thanks in Advanced

Thanks for your good repo. Would provide the notation of your 4x4 rigid transformation matrix? It will easier to understand, what they are? or any other link?