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[Kinfu] Question about amount of TSDF Voxels and convert TSDF volume into Point Cloud

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kevin739

[Kinfu] Question about amount of TSDF Voxels and convert TSDF volume into Point Cloud

Hello everyone,

I'd like to get data of Point Cloud via Kinfu.App in realtime. However, it takes too much time for convert TSDF volume into Point Cloud (about 150ms at GPU_Connected6 mode, my video card is GTX560ti).

I think reduce amount of TSDF Voxels will make time of converting shorter.

I try to set the default of TSDF volume resolution at 256 or lower (VOLUMEX_X, VOLUMEX_Y, VOLUMEX_Z in internal.h and DEFAULT_GRID_RES_X, DEFAULT_GRID_RES_Y, DEFAULT_GRID_RES_X Z in tsdf_volume.h), but time of converting didn't get reduced and Point Cloud size remains the same.

What's more, it'll show a warning message "[saying: "TSDFVolume::setHeader] Header volume size [134217728] doesn't fit underlying data size [1677216]" when download TSDF Volume from device.

How could I modify amount of TSDF Voxels or reduce time of converting?

fheredia

Re: [Kinfu] Question about amount of TSDF Voxels and convert TSDF volume into Point Cloud

Hello Kevin,

To the best of my knowldge, changing the number of voxels in internal.h should do the trick. How are you extracting the TSDf volume?

Cheers,

Francisco

On Thu, Jun 28, 2012 at 9:10 AM, kevin739 <[hidden email]> wrote:

Hello everyone,

I'd like to get data of Point Cloud via Kinfu.App in realtime. However, it
takes too much time for convert TSDF volume into Point Cloud (about 150ms at
GPU_Connected6 mode, my video card is GTX560ti).

I think reduce amount of TSDF Voxels will make time of converting shorter.

I try to set the default of TSDF volume resolution at 256 or lower
(VOLUMEX_X, VOLUMEX_Y, VOLUMEX_Z in internal.h and DEFAULT_GRID_RES_X,
DEFAULT_GRID_RES_Y, DEFAULT_GRID_RES_X Z in tsdf_volume.h), but time of
converting didn't get reduced and Point Cloud size remains the same.

What's more, it'll show a warning message "[saying: "TSDFVolume::setHeader]
Header volume size [134217728] doesn't fit underlying data size [1677216]"
when download TSDF Volume from device.

How could I modify amount of TSDF Voxels or reduce time of converting?

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kevin739

Re: [Kinfu] Question about amount of TSDF Voxels and convert TSDF volume into Point Cloud

Thanks for your reply.

Finally, I found the problem was that I forgot to update the .dll files.

fheredia wrote

Hello Kevin,

To the best of my knowldge, changing the number of voxels in internal.h
should do the trick. How are you extracting the TSDf volume?

Cheers,
Francisco
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Anatoly Baksheev

Re: [Kinfu] Question about amount of TSDF Voxels and convert TSDF volume into Point Cloud

I think, it's better to implement sampled cloud fetching functionality
from TSDF rather than to reduce volume resolution. In this case you
will have good tracking and fast fetching. Contributions are welcome
:)

Cheers,
Anatoly

On Thu, Jun 28, 2012 at 5:31 PM, kevin739 <[hidden email]> wrote:

> Thanks for your reply.
>
> Finally, I found the problem was that I forgot to update the .dll files.
>
>
>
> fheredia wrote
>>
>> Hello Kevin,
>>
>> To the best of my knowldge, changing the number of voxels in internal.h
>> should do the trick. How are you extracting the TSDf volume?
>>
>>
>> Cheers,
>> Francisco
>> _______________________________________________
>> PCL-users@ / http://pointclouds.org
>> http://pointclouds.org/mailman/listinfo/pcl-users
>>
>
>
> --
> View this message in context: http://www.pcl-users.org/Kinfu-Question-about-amount-of-TSDF-Voxels-and-convert-TSDF-volume-into-Point-Cloud-tp4019787p4019803.html
> Sent from the Point Cloud Library (PCL) Users mailing list archive at Nabble.com.
> _______________________________________________
> [hidden email] / http://pointclouds.org
> http://pointclouds.org/mailman/listinfo/pcl-users

--

Best regards,
Anatoly Baksheev
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