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Open3D: A Modern Library for 3D Data Processing
http://www.open3d.org
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Ray casting with VoxelBlockGrid at different view points. #5255

Closed siyuanfeng-tri closed 2 years ago

siyuanfeng-tri commented 2 years ago

Checklist

My Question

I have multiview RGBD data with known extrinsics and intrinsics. I wantted to render the RGB at slightly different extrinsics (view points) with the same intrinsics. I looked at these two tutorials for making the TSDF volume and ray casting. Making the TSDF volume makes total sense, but I am having trouble figuring out how to compute block_coords at slightly different extrinsics, which is the first argument to ray_cast(). Any explanation / pointer is much apprieciated.

siyuanfeng-tri commented 2 years ago

Well, the doc actually mentions the answer. Just the formatting makes it a hard to read. Solution is the use block_coords=vbg.hashmap().key_tensor()