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Feature #27286: Add ColoredHashTSDFVolume support in rgbd module(CPU) #3949
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Introduced 'ColoredHashTSDFVolume', a new CPU-only volume type extending 'HashTSDFVolume' with color integration support. This feature enables reconstruction of colored 3D scenes using aligned depth and RGB images, while benefiting from the memory and performance advantages of hashed volumetric fusion. Main contributions: - New data structure to store both TSDF and RGB color information - Updated integration logic to accumulate color per voxel - Extended raycasting and fetch functions to support color output - Comprehensive test coverage confirming correctness of the implementation This enhancement follows the direction proposed in issue #25155 and addresses feature request #27286. Tested: All new unit tests pass locally. Co-authored-by: Liane Lin <liane.lin@tecnico.ulisboa.pt>
I'm for integrating this new functionality into 5.x first. Here are my pros:
- We already have ordinary TSDF with color support in 5.x, but buggy
- TSDF in 5.x has better test coverage and the tests require minimum change to support new TSDF classes
- The TSDF interface in 5.x was largely reworked, it's more uniform and among other things supports Python bindings
Cons are:
- This code is already written
- 5.x is not released yet
@asmorkalov what are your thoughts on this?
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Introduced 'ColoredHashTSDFVolume', a new CPU-only volume type extending 'HashTSDFVolume' with color integration support. This feature enables reconstruction of colored 3D scenes using aligned depth and RGB images, while benefiting from the memory and performance advantages of hashed volumetric fusion.
Main contributions:
This enhancement follows the direction proposed in issue #25155 and addresses feature request #27286.
Pull Request Readiness Checklist
See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request
Patch to opencv_extra has the same branch name.