why vdbfusion appears some trianglemesh where there is no point hit? about vdbfusion

[nachovizzo]

Could you please elaborate a bit more?

[qpc001]

你能详细说明一下吗？

Using the VLP-16 to build the mesh, the scene is looking like this:

[nachovizzo]

Ok, now I understand. That's because vdbfusion employs TSDF, which represents a truncated signed distance field. The reason why you have a "thick" wall in the reconstruction is because of the truncation value, a bigger truncation value will produce "thicker" artifacts, and the opposite is also true.
You have 2 options:

1. Reduce the truncation value sdf_trunc
2. DIsable the filling_holes flag, that should also produce thinner surfaces

[qpc001]

好的，现在我明白了。这是因为 vdbfusion 使用了 TSDF，它代表了一个截断的有符号距离场。重建中之所以有“厚”的墙是因为截断值，较大的截断值会产生“更厚”的伪影，反之亦然。 您有 2 个选项：

1. 减少截断值sdf_trunc
2. 禁用filling_holes标志，这也应该产生更薄的表面

When I go to the other side of the wall, it should be disappear, but it isn't.

[nachovizzo]

You could probably check Directional TSDF https://arxiv.org/pdf/1908.05146.pdf

[qpc001]

You could probably check Directional TSDF arxiv.org/pdf/1908.05146.pdf

Thank you.