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Add use_normal_length_as_confidence parameter to Poisson surface reconstruction #7453

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Add use_normal_length_as_confidence parameter to Poisson surface reconstruction #7453

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31955a8
add param normal_length_as_confidence
shlok-ramlab Mar 4, 2026
efe8184
append normal_length_as_confidence parameter
shlok-ramlab Mar 9, 2026
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -73,6 +73,7 @@
- macOS x86_64 not longer supported, only macOS arm64 is supported.
- Python 3.13+3.14 support
- Fix Windows build failure for PyTorch ops due to PyTorch's bundled fmt (v11+) requiring `/utf-8` with MSVC (PR #7447)
- Add `use_normal_length_as_confidence` boolean parameter to Poisson surface reconstruction


## 0.13
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20 changes: 13 additions & 7 deletions cpp/open3d/geometry/SurfaceReconstructionPoisson.cpp
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Expand Up @@ -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;
Expand All @@ -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;
}
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shlok-ramlab marked this conversation as resolved.
float point_weight = 2.f * DEFAULT_FEM_DEGREE;
float confidence_bias = 0.f;
float samples_per_node = 1.5f;
Expand Down Expand Up @@ -716,12 +720,14 @@ void Execute(const open3d::geometry::PointCloud& pcd,
} // namespace

std::tuple<std::shared_ptr<TriangleMesh>, std::vector<double>>
TriangleMesh::CreateFromPointCloudPoisson(const PointCloud& pcd,
size_t depth,
float width,
float scale,
bool linear_fit,
int n_threads) {
TriangleMesh::CreateFromPointCloudPoisson(
const PointCloud& pcd,
size_t depth,
float width,
float scale,
bool linear_fit,
int n_threads,
bool use_normal_length_as_confidence) {
static const BoundaryType BType = DEFAULT_FEM_BOUNDARY;
typedef IsotropicUIntPack<
DIMENSION, FEMDegreeAndBType</* Degree */ 1, BType>::Signature>
Expand All @@ -746,7 +752,7 @@ 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();

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5 changes: 4 additions & 1 deletion cpp/open3d/geometry/TriangleMesh.h
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Expand Up @@ -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
Expand All @@ -555,7 +557,8 @@ class TriangleMesh : public MeshBase {
float width = 0.0f,
float scale = 1.1f,
bool linear_fit = false,
int n_threads = -1);
int n_threads = -1,
bool use_normal_length_as_confidence = false);

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shlok-ramlab marked this conversation as resolved.
/// Factory function to create a tetrahedron mesh (trianglemeshfactory.cpp).
/// the mesh centroid will be at (0,0,0) and \p radius defines the
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8 changes: 6 additions & 2 deletions cpp/pybind/geometry/trianglemesh.cpp
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Expand Up @@ -350,7 +350,8 @@ 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, "n_threads"_a = -1,
"use_normal_length_as_confidence"_a = false)
.def_static(
"create_from_oriented_bounding_box",
&TriangleMesh::CreateFromOrientedBoundingBox,
Expand Down Expand Up @@ -694,7 +695,10 @@ void pybind_trianglemesh_definitions(py::module &m) {
"estimate the positions of iso-vertices."},
{"n_threads",
"Number of threads used for reconstruction. Set to -1 to "
"automatically determine it."}});
"automatically determine it."},
{"use_normal_length_as_confidence",
"If true, use the length (norm) of normal vectors as a per-point "
"confidence."}});
docstring::ClassMethodDocInject(
m, "TriangleMesh", "create_from_oriented_bounding_box",
{{"obox", "OrientedBoundingBox object to create mesh of."},
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