Which GPU-based TSDF to use?

Question

Which GPU-based TSDF to use?

stevechan1993 opened this issue 5 years ago · comments

I got the full_mesh,and which gpu-based TSDF method can I use to support autonomous flight? Thanks a lot.

WANG KAIXUAN · Answer 1 · Tue Oct 15 2019 17:21:58 GMT+0800 (China Standard Time)

Sorry, I don't get your question. The map depends on your planning method. Also, why TSDF map sine you already get the meshes?

Steve Chan · Answer 2 · Tue Oct 15 2019 18:07:32 GMT+0800 (China Standard Time)

Maybe I missunderstand this sentence "We use a modified open chisel for 3D reconstruction and use a GPU-based TSDF to support autonomous flight". I want to control an A3 flight controller drone to autonomous flight, which planning method should I use, can I use full mesh directly?

WANG KAIXUAN · Answer 3 · Wed Oct 16 2019 10:16:53 GMT+0800 (China Standard Time)

In our applications (e.g., UAV autonomous flight), we use a gpu-TSDF to fuse depth maps and extract occupied grids (grids with zero tsdf values).

Meshes are only for visualization that is not extracted during the flight. If we want to reconstrcuct the scene in meshes, we use OpenChisel for fusion and mesh extraction.

Later, we developed SurfelFusion which can fuse depth maps and extract (disconnected) meshes in the same time.