v2.2.0
Highlights
- Stereo image rectification before ONNX depth inference
- Tiled TSDF reconstruction for large scenes and high-resolution meshes
- Simplified stereo pipeline configuration
- Improved reconstruction progress reporting
What's New
Stereo Rectification
Stereo image pairs are now rectified before FoundationStereo or Fast-FoundationStereo inference.
This improves stereo correspondence consistency and reduces reconstruction artifacts caused by camera geometry misalignment.
Tiled TSDF Reconstruction
Added tiled TSDF reconstruction for stereo-generated RGBD data.
Large scenes can now be reconstructed using smaller voxel sizes without requiring a single global TSDF volume to fit in GPU memory. The scene is automatically divided into spatial tiles, reconstructed independently, and merged into a final mesh.
This enables higher-resolution reconstructions for larger environments while keeping memory usage manageable.
Stereo Pipeline Configuration Cleanup
The stereo reconstruction configuration has been simplified and separated from Quest depth-specific settings, making stereo workflows easier to understand and configure.
Progress Reporting Improvements
Tiled reconstruction now provides per-tile progress reporting and integration statistics to make long-running reconstructions easier to monitor.
Recommended Workflow
MRUK + FoundationStereo (or Fast-FoundationStereo) with stereo rectification and tiled TSDF reconstruction is now the recommended workflow for large-scale or high-resolution scene reconstruction.