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andyzeng / tsdf-fusion

Fuse multiple depth frames into a TSDF voxel volume.
http://andyzeng.github.io/
BSD 2-Clause "Simplified" License
713 stars 133 forks source link

Question about tsdf #2

Open ghost opened 7 years ago

ghost commented 7 years ago

Hi,

Is what I can calculate tsdf for a cloud of points not for depth images ? You can help me with an idea

Thank you for your help.

andyzeng commented 7 years ago

Hello, it is possible to compute TSDF from a point cloud. However, to make use of negative distance values, you'll need to know "occluded" space in your point cloud. This repository currently does not have support for that.

But for what it's worth, you can still compute TDF, which is the unsigned version of the TSDF. You can find code to compute TDF from point clouds here.

ghost commented 7 years ago

Thank you very much.

Is it possible to use it without Marvin (not working with windows) Just for compute TDF voxel grid values given a point cloud. Thank you in advance.

andyzeng commented 7 years ago

Yes, it is possible to use it without Marvin. All of the code here for computing TDF does not require Marvin. For demo.cu, you can remove the inference parts that use Marvin.

ghost commented 7 years ago

Thanks a lot sir for your support with your useful articles All right , i have one more question I want to inform you that adapted your algorithm on my point cloud to mesure my TDF and the values between 0 and 1.

1- In the other hand i wonder if i can visualize the results (like tsdf) with a .ply format Or with matlab.

2- Returning to the negative distance values , u mentioned that i should know the occluded space in point cloud. Could u please clarify this point to me or could u join a link that explines it Thanks for your permenant support Thanks you so much.

ghost commented 7 years ago

Hi @andyzeng

Please Returning to the negative distance values , u mentioned that i should know the occluded space in point cloud. Could u please clarify this point to with adea. Thank you in advance.