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andyzeng / 3dmatch-toolbox

3DMatch - a 3D ConvNet-based local geometric descriptor for aligning 3D meshes and point clouds.
http://3dmatch.cs.princeton.edu/
BSD 2-Clause "Simplified" License
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Two questions about TSDF #28

Open TheodoreG opened 5 years ago

TheodoreG commented 5 years ago

Hi, Thank you so much for your code, and it helps mu a lot. But I have two problems about the conversion from point cloud to TSDF file.

  1. From the PCL tutorial http://pointclouds.org/documentation/tutorials/using_kinfu_large_scale.php and the picture from it we can see that TSDF gird has "1" for area without surface and "0" for area. image

But from your code it computes "1" for area, like in https://github.com/andyzeng/3dmatch-toolbox/blob/f6496fd5aaa36c971de36b456843266e6d8a196a/core/demo.cu#L39 So is there any significant difference between those two format?

  1. The dist variable computed from https://github.com/andyzeng/3dmatch-toolbox/blob/f6496fd5aaa36c971de36b456843266e6d8a196a/core/demo.cu#L52 may be larger than 1.0. Suppose xd=yd=zd=5, search_radius=5, then dist=1.73. Is it better to change the norm term into "sqrt(3) * search_radius" to make "dist" smaller than 1.0?