Sporadic empty polygons when texturing

[Simenhu]

Hi, my name is Simen and I work in a company where we use RTAB-map to combine images from a RealSense camera together with lidar measurements from a Livox360 lidar.

We use the data captured to make a textured mesh from the pointcloud. But, we are having massive amounts of artifacts after texturing. Many polygons in a mesh seems to not get any texture from the images. It there where big areas that weren't meshed it would be understandable, since the camera doesn't cover the whole field of view from the lidar, but there seems to be many randomly distributed non-textured polygons.

These non-textured polygons can be found in the middle of an area where the rest of polygons have a good meshing, so there should't be the case that the camera doesn't have images of the area. What can be the reason for these artifacts?

I have attached an image that shows the type of artifacts and the current command we run.

Thanks in advance for help?

Command:

rtabmap-export --opt 2  --mesh --scan --texture --voxel 0 --min_range 1.0 --max_range 20.0 --noise-radius 0.1 --poisson_size 0.05  --no_clean --cam_projection_keep_all --texture_depth_error -1 --max_polygons 0 --texture_roi_ratios 0 0 0 0.16 --output_dir <output_path> <input_db_path>

Simen

[matlabbe]

You may try with "--color_radius 0" as a comparison, all polygons should be kept even if they don't have texture.

[Simenhu]

I tested out with different --texture_depth_error arguments, and it seems like the -1 flag for disabeling this error check doesn't work. I changed the argument to --texture_depth_error 100 and now most of the texture seem to work properly.
Maybe this is a known bug, but figured to report it here ☺️

Simen

[matlabbe]

Thanks for testing, it should be fixed by https://github.com/introlab/rtabmap/commit/26f036173d2d7af2da3fecd1436f0b978894c34d

Mathieu