Closed rauldds closed 1 year ago
@rauldds sorry for the delay!
1) As stated in the code "This is still a hack, run tsdf with a higher resolution just to obtain the target cooridnates values". I was lazy enough to compute the exact coordinates of the volumes. Taking the scan, the spatial information you can do it. I just run 1 step of tsdf and extract it with the vdb_to_numpy. This is quite awkward, but well... it does the job
2) The nodes are the leaf nodes of the VDB grid. It sounds complicated but it is always a dense voxel grid of 8x8x8 voxels. You can use the vdb visualizer to inspect those.
I hope this helps somehow!
Hello,
Thank you for your amazing work, it is really amazing.
I have a few doubts and I hoped you could help me solved them (sorry if they're kind of dumb, I'm new to vdb)
First, in the script
scan_complete.py
(specifically in the functionrun_tsdf
) you start to generate the tsdf grid based on a given point cloud scan. What I don't completely understand is what thebase_volume
andtarget_coords_xyz_a
represent. Could you please elaborate?Second, in the
vdb_utils.py
script (specifically in the functionvdb_to_torch
) you return a dictionary withnodes
andorigin
tensors. What do these tensors represent?Thank you for your time. Look forward to hearing from you! :)