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victorprad / InfiniTAM

A Framework for the Volumetric Integration of Depth Images
http://www.infinitam.org
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Surfel not removing moving objects #134

Closed Myzhar closed 5 years ago

Myzhar commented 5 years ago

Hello, I'm trying the Surfel engine and I noticed that moving objects are not removed like it happens in dense engine.

Is there any configuration to be set to correctly remove moving objects?

sgolodetz commented 5 years ago

See https://github.com/victorprad/InfiniTAM/issues/78.

The surfel engine is something of a beta unfortunately - it works, but there are certain things that aren't currently implemented.

Myzhar commented 5 years ago

Sorry for the duplicated question... I have not see the #78. Thank you

elDvd96 commented 2 years ago

Hi, thank you very much for the amazing code!

I'm sorry but I don't undertstand if InfiniTAM (v3) should be able to reconstruct scenes with moving objects. I thought no, but then I read @Myzhar's question talking about a dense engine which is able to remove moving objects... I'm wondering what he's referring to.

I tried the 3 different engines changing internalSettings->libMode = ITMLibSettings::LIBMODE_LOOPCLOSURE; in infiniTAM.cpp at line 199, but none was able to work with the umbrella dataset from https://cloud9.cs.fau.de/index.php/s/46qcNZSNePHx08A .

Screenshot from 2022-01-21 10-27-48

I noticed that with LIBMODE_BASIC InfiniTAM is able at least to handle the really first small movements of the object, while with LIBMODE_LOOPCLOSURE the output is completely black after just a few frames.

Any chance to reconstruct moving objects or it is just designed for static scenes?