TSDF can we truncate only outside voxels and not inside ?

[aniketghodake10]

Any way we can truncate only ouside voxels and not inside ?
I want values of all voxels which are inside the surface.
TSFvolume has only sdf_trunc argument, which truncate both outer and inner voxels.

[mbreyer]

Hi, that would require you to adapt Open3D's UniformTSDFVolume implementation. Alternatively, Voxblox can build Euclidean Signed Distance Fields (ESDFs) directly from TSDFs. Might be worth a look too.

[aniketghodake10]

Hi, that would require you to adapt Open3D's UniformTSDFVolume implementation. Alternatively, Voxblox can build Euclidean Signed Distance Fields (ESDFs) directly from TSDFs. Might be worth a look too.

Thanks for the reply.

Any idea why TSDF doesn't get properly integrated when we increase stf_trunc value ? Any workaround ?

Below is the extracted point cloud from same TSDF. We can see very distorted pointcloud. TSDF is also not accurate.