Hi, remember to use our full evaluation script for reproducing.
Holes are typically caused by insufficient coverage of surfels and discontinuity of median depth. Mean depth resolve this problem.
What do you mean by having noise? floaters are also caused by inconsistent depth and common seen in TSDF, where post-processing is needed. You can set num_cluster = 1 to keep the largest cluster.
And the result of fuse_post.ply :
The question is:
Thanks reply !