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andyzeng / tsdf-fusion-python

Python code to fuse multiple RGB-D images into a TSDF voxel volume.
http://andyzeng.github.io/
BSD 2-Clause "Simplified" License
1.25k stars 219 forks source link

Resizing/cropping the image #21

Open ShrutheeshIR opened 4 years ago

ShrutheeshIR commented 4 years ago

Thanks for the great code! I was wondering if I could crop our relevant parts of the image and then run TSDF on that. If I do that, would I have to change the camera intrinsics? I will give out an example scenario. Suppose in the example sequence, I wish to reconstruct only the table, and I have masked out only the table from the sequence, I would then crop the image only to have the table, (and if necessary, resize it back to the original image dimensions). Is this possible? In this case, what changes do I have to make to the camera intrinsic and the pose? Any link to theory would also be great! Thanks

plutoyuxie commented 4 years ago

Hi, maybe I can give some advice since I have test this with my own data. camera intrinsic is necessary to transform pixels of depth image to camera coordinate system. In fact, you can modify the value of cx and cy in the camera-intrinsics.txt file if you crop the data.