Export camera poses for textured mesh in multi-camera mode
I want to generate a textured mesh from my pointcloud. I followed your guide on how to do it and it works fine for maps, created with one RGBD camera. However, for scans with 2 RGBD cameras, I cannot "export cameras in bundler format". I get the following error message when trying:
"No poses exported because of missing images. Try refreshing the cache (with clouds)."
I tried refreshing the cache, but the error persists. Is there a way to make this work?
I also tried exporting the camera poses in raw format, which gives me the following error:
"Could not find any "Camera" frame, exporting in Robot frame instead."
So I guess the information about the camera position is missing in the first place, but I do not understand why.
My parameters for launching the slam node are:
Rtabmap/DetectionRate: '5'# [Detection rate (Hz). RTAB-Map will filter input images to satisfy this rate.]
Rtabmap/StartNewMapOnLoopClosure: "true"# [Start a new map only if there is a global loop closure with a previous map.] true: map won't be overwritten if odometry is lost
Reg/Strategy: '0'# [0=Vis 1=Icp 2=VisIcp]
Vis/EstimationType: '1'# [Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)]
Vis/InlierDistance: '0.1'# [[Vis/EstimationType = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.]
Vis/RefineIterations: '5'# [[Vis/EstimationType = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.]
Vis/FeatureType: "2"# [0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector]
Vis/CorType: "0"# Correspondences: 0=Features Matching, 1=Optical Flow
Vis/MaxDepth: '0'# [Max depth of the features (0 means no limit).]
Vis/MaxFeatures: '2000'# [0 no limits.]
OdomF2M/MaxSize: '2500'# [[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.]
Rtabmap/CreateIntermediateNodes: 'true'# [Create intermediate nodes between loop closure detection. Only used when Rtabmap/DetectionRate>0.]