Add use_normal_length_as_confidence parameter to Poisson surface reconstruction

cpp/open3d/geometry/SurfaceReconstructionPoisson.cpp

@@ -400,6 +400,7 @@ void Execute(const open3d::geometry::PointCloud& pcd,
              float width,
              float scale,
              bool linear_fit,
+             bool use_normal_length_as_confidence,
              UIntPack<FEMSigs...>) {
     static const int Dim = sizeof...(FEMSigs);
     typedef UIntPack<FEMSigs...> Sigs;
@@ -421,6 +422,9 @@ void Execute(const open3d::geometry::PointCloud& pcd,
     int base_depth = 0;
     int base_v_cycles = 1;
     float confidence = 0.f;
+    if (use_normal_length_as_confidence) {
+        confidence = 1.f;
+    }
     float point_weight = 2.f * DEFAULT_FEM_DEGREE;
     float confidence_bias = 0.f;
     float samples_per_node = 1.5f;
@@ -721,6 +725,7 @@ TriangleMesh::CreateFromPointCloudPoisson(const PointCloud& pcd,
                                           float width,
                                           float scale,
                                           bool linear_fit,
+                                          bool use_normal_length_as_confidence,
                                           int n_threads) {
     static const BoundaryType BType = DEFAULT_FEM_BOUNDARY;
     typedef IsotropicUIntPack<
@@ -746,7 +751,7 @@ TriangleMesh::CreateFromPointCloudPoisson(const PointCloud& pcd,
     auto mesh = std::make_shared<TriangleMesh>();
     std::vector<double> densities;
     Execute<float>(pcd, mesh, densities, static_cast<int>(depth), width, scale,
-                   linear_fit, FEMSigs());
+                   linear_fit, use_normal_length_as_confidence, FEMSigs());
 
     ThreadPool::Terminate();
 

cpp/open3d/geometry/TriangleMesh.h

@@ -545,6 +545,8 @@ class TriangleMesh : public MeshBase {
     /// for reconstruction and the diameter of the samples' bounding cube.
     /// \param linear_fit If true, the reconstructor use linear interpolation to
     /// estimate the positions of iso-vertices.
+    /// \param use_normal_length_as_confidence If true, use the length (norm)
+    /// of normal vectors as point confidence.
     /// \param n_threads Number of threads used for reconstruction. Set to -1 to
     /// automatically determine it.
     /// \return The estimated TriangleMesh, and per vertex density values that
@@ -555,6 +557,7 @@ class TriangleMesh : public MeshBase {
                                 float width = 0.0f,
                                 float scale = 1.1f,
                                 bool linear_fit = false,
+                                bool use_normal_length_as_confidence = false,
                                 int n_threads = -1);
 
     /// Factory function to create a tetrahedron mesh (trianglemeshfactory.cpp).

cpp/pybind/geometry/trianglemesh.cpp

@@ -350,7 +350,9 @@ void pybind_trianglemesh_definitions(py::module &m) {
                         "This function uses the original implementation by "
                         "Kazhdan. See https://github.com/mkazhdan/PoissonRecon",
                         "pcd"_a, "depth"_a = 8, "width"_a = 0, "scale"_a = 1.1,
-                        "linear_fit"_a = false, "n_threads"_a = -1)
+                        "linear_fit"_a = false,
+                        "use_normal_length_as_confidence"_a = false,
+                        "n_threads"_a = -1)
             .def_static(
                     "create_from_oriented_bounding_box",
                     &TriangleMesh::CreateFromOrientedBoundingBox,
@@ -692,6 +694,9 @@ void pybind_trianglemesh_definitions(py::module &m) {
              {"linear_fit",
               "If true, the reconstructor will use linear interpolation to "
               "estimate the positions of iso-vertices."},
+             {"use_normal_length_as_confidence",
+              "If true, use the length (norm) of normal vectors as "
+              "point confidence"},
              {"n_threads",
               "Number of threads used for reconstruction. Set to -1 to "
               "automatically determine it."}});