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Algomorph / LevelSetFusion-Python

Level Set Fusion (3D Reconstruction of Dynamic Scenes) Experimental Code
Apache License 2.0
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Investigate why the C++ "inclusive" version of the TSDF-space EWA is super-slow #43

Closed Algomorph closed 5 years ago

Algomorph commented 5 years ago

It is insanely slow. Literally, the 2D processing of a single image takes like 10 minutes.

Algomorph commented 5 years ago

So this is not really a bug per-se, but this affected (in a way) actually all of the variants. The reason is that once you get reeeeealy close to the camera, the math gets pretty ugly - i.e. sampling area blows up waaaay the hell out of proportion.

Algomorph commented 5 years ago

Solved by direct commit to master: 1) Added out-of-bounds check for the inclusive case specifically (so it doesn't have to do anything for voxels that are waaaay out-of-bounds when projected to the image)

2) Added a near clipping distance. This should be made a parameter to all generation functions later. For now, it's a constant set to 5 cm.