TSDF值在薄表面周围集成时
在进行3D重建时，我对计算体素的TSDF值的以下情况感到困惑：
假设您有一张薄纸站起来，然后在它周围拍照。您想预测其背后体素的TSDF值。当纸在相机和体素之间，您会得到负TSDF值。但是，当您和纸之间的体素（您在场景的另一侧）之间，您会获得正面的TSDF值。
这是没有意义的，因为当我获得负TSDF值时，我似乎不应该集成体素。但是我不知道该物体是一张薄纸，在旋转之前不是一个厚的盒子。但是我看了几篇论文和文章，谈论了这一点，它们都有相似的定义。
While doing 3D-reconstruction, I was puzzled by the following scenario of computing the TSDF value of a voxel:
Suppose you have a thin piece of paper standing up and you take pictures around it. You want to predict the TSDF value of a voxel right behind it. When the paper is between the camera and the voxel, you get negative TSDF values. Yet when the voxel is between you and the paper (you are on the other side of the scene) you get positive TSDF values.
This just doesn't make sense since it seems that I should not integrate the voxel when I get negative TSDF values. But I cannot know that the object is a thin piece of paper, not a thick box before I rotate. But I looked at several papers and articles talking about this and they all have similar definitions.
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TSDF集成定义了切割阈值，以避免对象两侧的干扰（通常是在“ if（depth＆gt; - cutte_threshold）{....}”中的干扰。
但是，对于像纸一样纤细的对象，甚至比体素更苗条，干扰仍然发生在阈值时，因此纤细的对象集成总是失败的（在您的情况下会导致纸张损坏）。可以将解决方案设置为SDF-＆gt; tsdf值映射以“推开” TSDF的另一个放松阈值
tsdf integration defines a cutting threshold to avoid the interference from both sides of a object (normally in terms of "if(depth > - cutting_threshold) {....}").
But, for a slim object like a piece of paper , which is even slimmer than a voxel , the interference still happens with the threshold, so slim object integration always fails (result in a broken paper in your case). a solution to this could be set another relax threshold on sdf->tsdf value mapping to 'push away' the tsdfs from both sides of the paper