System Information

Version: 5.x
Platforms: all

Detailed description

A color TSDF implementation produces quite noisy images as a result of a raycast. This is not an expected behavior since TSDF integration sums up the colors of all frames which should let them look blurry rather that pixel-size noisy.

It's hard to say whether the bug is in integration or in raycasting, an investigation needed

Steps to reproduce

Run accuracy tests for TSDF with debug windows enabled:
bin/opencv_test_3d --gtest_filter=*VolumeTestFixture.valid_points* --gtest_param_filter=*ColorTSDF* --test_debug
You'll get rendered color model like this:

Issue submission checklist

• I report the issue, it's not a question
• I checked the problem with documentation, FAQ, open issues, forum.opencv.org, Stack Overflow, etc and have not found any solution
• I updated to the latest OpenCV version and the issue is still there
• There is reproducer code and related data files (videos, images, onnx, etc)