how to improve reconstruction precision

[dbdxnuliba]

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• Operating system version (for example, Ubuntu 18.04 LTS)
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• CUDA version (for example, CUDA 11.4)
• Nvidia driver version (for example, Driver 470.141)
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this is the outpu ply file by

I use franka +L515 +yak_ros
with two pc , one of them run franka_ros and L515 and another pc run yak_ros ,subscribe /camera/depth/image_rect_raw,

and this is the real environment:

and this is the launch file

<node name="tsdf_node" pkg="yak_ros" type="yak_ros_node" output="screen">
  <!-- remap realsensen topic  -->
  <remap from="~input_depth_image" to="/camera/depth/image_rect_raw"/>
  <!-- <remap from="~input_point_cloud" to="/camera/depth_registered/points"/> -->
  <param name="tsdf_frame" value="tsdf_origin"/>
  <rosparam param="camera_matrix">[457.046875, 0.0, 330.37109375, 0.0, 456.90625, 249.544921875, 0.0, 0.0, 1.0]</rosparam>
  <param name="cols" value="640"/>
  <param name="rows" value="480"/>
<param name="volume_resolution" value="0.002"/>
<param name="volume_x" value="640"/>
<param name="volume_y" value="640"/>
<param name="volume_z" value="768"/>
</node>

<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0.32714 -0.26846 0.002 0.0 0.0 0.0 1.0 world tsdf_origin 100" />
<!-- <node type="rviz" name="rviz" pkg="rviz" args="-d $(find jil_object_tracking)/rviz/yak_demo.rviz" /> -->
<arg name="rviz" default="true" />
<group if="$(arg rviz)">
    <node launch-prefix="nice" pkg="rviz" type="rviz" name="rviz_meng"/>
</group>

we can see many large holes and in the surface after resconstruction, and plane becomes curved
can you give me some advice to improve the reconstruction precision

and quesiont2:
there are so many faces in the ply file ,how can we combine them into a few surfaces

[Levi-Armstrong]

Increase the tsdf resolution from 0.002 to something larger that the sensor depth noise. If this is smaller that the expected noise in the depth then the noise decays seen areas resulting in holes in the data. Also this is directly propositional to the mesh resolution since it use marching cubes using the tsdf to generate the mesh.