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ethz-asl / vgn

Real-time 6 DOF grasp detection in clutter.
BSD 3-Clause "New" or "Revised" License
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TSDF can we truncate only outside voxels and not inside ? #20

Open aniketghodake10 opened 2 years ago

aniketghodake10 commented 2 years ago

Any way we can truncate only ouside voxels and not inside ? I want values of all voxels which are inside the surface. TSFvolume has only sdf_trunc argument, which truncate both outer and inner voxels.

mbreyer commented 2 years ago

Hi, that would require you to adapt Open3D's UniformTSDFVolume implementation. Alternatively, Voxblox can build Euclidean Signed Distance Fields (ESDFs) directly from TSDFs. Might be worth a look too.

aniketghodake10 commented 2 years ago

Hi, that would require you to adapt Open3D's UniformTSDFVolume implementation. Alternatively, Voxblox can build Euclidean Signed Distance Fields (ESDFs) directly from TSDFs. Might be worth a look too.

Thanks for the reply.

Any idea why TSDF doesn't get properly integrated when we increase stf_trunc value ? Any workaround ?

Below is the extracted point cloud from same TSDF. We can see very distorted pointcloud. TSDF is also not accurate.

Screenshot from 2022-05-19 20-11-51