In RGBD integration, use TSDF + Flying Edges instead of TSDF + Marching Cube

[qtn-mtp]

Checklist

• I have searched for similar issues.
• For Python issues, I have tested with the latest development wheel.
• I have checked the release documentation and the latest documentation (for main branch).

My Question

I would like to know if there is a way (and if there is an advantage in this context) to use Flying Edges (FE)¹ in RGBD integration (see tuto Open3D).
Currently, it is possible to create a mesh with Marching Cube (MC)² from a 3D discrete scalar field obtained with TSDF volume³⁴.
In exemple, you proposed the following function :

def integrate_rgb_frames_for_fragment(color_files, depth_files, fragment_id,
                                      n_fragments, pose_graph_name, intrinsic,
                                      config):
    pose_graph = o3d.io.read_pose_graph(pose_graph_name)
    volume = o3d.pipelines.integration.ScalableTSDFVolume(
        voxel_length=config["tsdf_cubic_size"] / 512.0,
        sdf_trunc=0.04,
        color_type=o3d.pipelines.integration.TSDFVolumeColorType.RGB8)
    for i in range(len(pose_graph.nodes)):
        i_abs = fragment_id * config['n_frames_per_fragment'] + i
        print(
            "Fragment %03d / %03d :: integrate rgbd frame %d (%d of %d)." %
            (fragment_id, n_fragments - 1, i_abs, i + 1, len(pose_graph.nodes)))
        rgbd = read_rgbd_image(color_files[i_abs], depth_files[i_abs], False,
                               config)
        pose = pose_graph.nodes[i].pose
        volume.integrate(rgbd, intrinsic, np.linalg.inv(pose))
    mesh = volume.extract_triangle_mesh() # <-- Call Marching Cube, so how to replace with Flying Edges
    mesh.compute_vertex_normals()
    return mesh

I checked C++ documentation related to FE and the only function I found is CreateIsoSurface(). The problem is I don't know how to use it with a TSDFVoume with the proposed exemples in python doc of create_isosurface().
Thanks in advance :)

PS: For curious, here is an article of Will Schroeder and Spiros Tsalikisfrom Kitware VTK which makes comparison between MC and FE : Really fast isocontouring

Footnotes

1. Schroeder, William, Rob Maynard, and Berk Geveci. "Flying edges: A high-performance scalable isocontouring algorithm." 2015 IEEE 5th Symposium on Large Data Analysis and Visualization (LDAV). IEEE, 2015. ↩

2. Lorensen, William E., and Harvey E. Cline. "Marching cubes: A high resolution 3D surface construction algorithm." Seminal graphics: pioneering efforts that shaped the field. 1998. 347-353. ↩

3. Curless, Brian, and Marc Levoy. "A volumetric method for building complex models from range images." Proceedings of the 23rd annual conference on Computer graphics and interactive techniques. 1996. ↩

4. Newcombe, Richard A., et al. "Kinectfusion: Real-time dense surface mapping and tracking." 2011 10th IEEE international symposium on mixed and augmented reality. Ieee, 2011. ↩