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Open3D: A Modern Library for 3D Data Processing
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After using TSDF integrate, some points disappeared and holes were created #1311

Closed MaxChanger closed 4 years ago

MaxChanger commented 4 years ago

I use my own dataset to test. As shown in this screenshot, on the left I convert rgbd image from all frames into point clouds and then add them together use the pose of scene/refined_registration_optimized.json and fragments/fragment_optimized_%03d.json, on the right I use Reconstruction System, --integrate, using ScalableTSDFVolume for integrate.

  1. I don’t know why the point clouds in the blue box has disappeared. Originally the wall and the table were squatting, but after TSDF integrating, a big hole was created.

  2. In addition, why is the grid in the green circle produced?

Selection_036

MaxChanger commented 4 years ago

According to my test, after adding fragments_009 and fragments_010 to integrate, the result of scene is getting worse and worse.

So it's related to the probability of a point in a voexl?

Selection_037

germanros1987 commented 4 years ago

Hi! In the Open3D team, we take your question very seriously. In order to provide better assistance to our users, we are implementing new policies. Now general questions should be asked in our forum: https://forum.open3d.org

Github issues will remain in use for bug reports and feature requests.

We are looking forward to answering your question in our forum!

Best regards.

MaxChanger commented 4 years ago

Thanks. @germanros1987