Bunlder export: what poses ?

[Pierre]

Hi,

I noticed that exporting in Bundler format from the GUI app always leads to different poses than when I export clouds in the usual way. Also they don't just differ from a rigid transformation.

My goal was to have a bundler export of my project, as well as a nice cloud with normals, compatible with the bundler export. I couldn't manage to do so.

Also it doesn't seem to just be a consequence of the additional SBA done before the bundler export: I tried exporting clouds before and after the bundler export, + after doing additional SBAs in case the bundler ones are not kept after exporting. Nothing could match the bundler poses.

Thanks for your help
Best
Pierre

[matlabbe]

Hi Pierre,

Are the poses very far from each other?

Is "Export 3D points" checked? If so an optimization will be always redone, which can give slightly different results each time.

Based on this : https://github.com/introlab/rtabmap/wiki/Export-Raster-Layers-to-MeshLab , you may want to keep "Export 3D points" unchecked.

[Pierre]

Hi Mathieu,

Thank you for your answer. It could be that I'm doing something wrong although I'm more or less doing exactly what the tutorial suggests.

Here is a screen of the cloud (3d points) from the cameras.out, and the cloud exported from RTABMap.

What I did is, exactly,
- open the db and chose global optimized
- export bundler without closing loops, and chosing 20 iterations of sba (and saying yes to 3d points because I want them) (---> I misread your message, that's why there is a slight difference everytime...)
- export clouds



The sba iterations done for the bundler export are actually kept and applied for the later cloud export aren't they ?

EDIT: I absolutely misread your last post, sorry. So the sba iterations are not kept after the bundler export then... Which means there is currently no way to export 3D points + a compatible mesh ?

[matlabbe]

Pierre wrote

The sba iterations done for the bundler export are actually kept and applied for the later cloud export aren't they ?

That is a good idea, currently the optimized poses are not applied back to current poses loaded in the main window. That could fix your issue if we update them back, then Export Clouds will use the same poses. I created an issue here: https://github.com/introlab/rtabmap/issues/1483

EDIT: https://github.com/introlab/rtabmap/issues/1483 has been fixed.

[Pierre]

Amazing Mathieu ! This was fast :)
Thanks a lot