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PRBonn / vdbfusion

C++/Python Sparse Volumetric TSDF Fusion
MIT License
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Help with Parametrization #44

Open laurenzheidrich opened 3 months ago

laurenzheidrich commented 3 months ago

Hi & thanks for your great repository!

Using Kitti Dataset I get very good results. Now I am trying to run your pipeline on a custom dataset. While the fine detail of cars is astonishing, the reconstruction of large structures such as the street is quite bad. I have tried different parametrizations but the problem stays the same.

Here are two screenshots of the resulting reconstructed mesh

image image

And here is a screenshot of the the merged point cloud:

image

As you can see the merged pointcloud (consisting of 50 scans) is very dense and provides great detail, but the mesh is full of holes and missing parts. I have used the standard Kitti parametrization you provided, but played around with the voxel_size, sdf_trunc, min_weight, fill_holes etc. in the range of [x0.1, x10] and the results were always almost the same.

Can you point me in any direction of what I could change in the parametrization / setting etc.?

laurenzheidrich commented 3 months ago

Translating my point clouds down by 1.5-2.5m tremendeously changed the reconstruction result to the better. I am closing this issue :)

lijing137 commented 3 months ago

Translating my point clouds down by 1.5-2.5m tremendeously changed the reconstruction result to the better. I am closing this issue :)

I encountered a similar issue. Could you please explain it in more detail? Is it about lowering the height of the LiDAR?

laurenzheidrich commented 3 months ago

Yeah so when I looked at my scans in comparison to Kitti, I saw that the ground points are around 1.5m higher than the ground points of Kitti. So as a last straw to grasp, I just translated all my scans down by 1.5m along the z-axis so that the ground points of my scans and kitti scans are somewhat aligned.

after doing that, VDB started to work perfectly. I don’t know why tbh, not sure if there is some parameter set in their code that detects the ground at a certain pre-defined height or something. Would be great if the authors could say anything about this.

lijing137 commented 3 months ago

Yeah so when I looked at my scans in comparison to Kitti, I saw that the ground points are around 1.5m higher than the ground points of Kitti. So as a last straw to grasp, I just translated all my scans down by 1.5m along the z-axis so that the ground points of my scans and kitti scans are somewhat aligned.

after doing that, VDB started to work perfectly. I don’t know why tbh, not sure if there is some parameter set in their code that detects the ground at a certain pre-defined height or something. Would be great if the authors could say anything about this.

OK，Thank you very much.