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Please consider to add "deintegrate" functionality to Volume class #2613

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lombardm opened this issue Nov 13, 2020 · 3 comments · May be fixed by #7210
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Please consider to add "deintegrate" functionality to Volume class #2613

lombardm opened this issue Nov 13, 2020 · 3 comments · May be fixed by #7210
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@lombardm
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I am a huge fan of your library. Currently I am working with the pipeline.integration class. Personally, I think it could be very nice to have the symmetric version of the "integrate" function, therefore a "deintegrate" that is able to remove from the current volume some previously integrated data at a specific position. Indeed, as stated in "BundleFusion" paper from 2017, the TSDF is symmetric, so it is possible to go backward. This is particularly helpful in a pipeline such as the one of BundleFusion, where newly optimized poses can be used to update the model in online fashion.
Thanks in advance,
Marco
@theNded
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theNded commented Nov 18, 2020

We will be providing a new design of TSDF volumes in the next release. Please stay tuned!

@lombardm
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Thanks!
Then I will close this request for the moment :)

@martinakos martinakos mentioned this issue Feb 14, 2022
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@martinakos
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Is this "deintegrate" functionality is already available within the VoxelBlockGrid?

@iammarvelous iammarvelous mentioned this issue Mar 24, 2025
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support TSDF deintegration for a previously integrated RGBD image iammarvelous/Open3D
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@martinakos @theNded @lombardm