search

nvidia-isaac / nvblox

A GPU-accelerated TSDF and ESDF library for robots equipped with RGB-D cameras.
Other
705 stars 75 forks source link

Mesh to ESDF #52

Open mariuszhermansdorfer opened 4 months ago

mariuszhermansdorfer commented 4 months ago

Hey NVBLOX Team!

Is there a way to create ESDFs from an existing triangular mesh? My desired workflow looks as follows:

  1. Take a bunch of messy (self intersecting) meshes
  2. Voxelize them
  3. Mesh the ESDF to create clean, water-tight geometry

The input meshes have a relatively low polygon count, hence using only vertices as a point cloud input will probably not yield meaningful results.

Currently, I'm using OpenVDB for this task but it's relatively slow for higher voxel resolutions.