O3D does not have an easy to use surface contouring method of the form

mesh = o3d.t.geometry.TriangleMesh.create_from_volume(volume, values=[-1,0,1], attribute_volumes={'colors': color_volume})
print(mesh.vertex.colors) # values interpolated from color_volume

We have a Marching Cubes implementation for RGBDVolume integration but we should switch to a more modern and parallel implementation like https://vtk.org/doc/nightly/html/classvtkFlyingEdges3D.html

• Use FlyingEdges3D from vtk
• Consider reimplementing FlyingEdges3D for the GPU

Assigned to: intelshashi