Re: Noisy floor with ARKit

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Noisy-floor-with-ARKit-tp10530p10541.html

Hi Pierre,

There is no API to save more image types than GrayScale, RGB and Depth images. Other types discussed in the past are IR (at same time than RGB), disparity, thermal or object/class/id segmented images. Depth/Disparity confidence image could be another type.

A workaround was to use user_data field of SensorData class: https://answers.ros.org/question/211785/how-to-generate-thermal-colored-map/ . With current iOS code, that could be possible to populate the user_data with a compressed confidence image, instead of thresholding depth values. However, even if that added code could be only a dozen of lines, there would be no option to actually use it in RTAB-Map post-processing tools (because it is user data, only from external an user would know that do to with the data saved in the database).

I can see that android has also its way to set a confidence (though not used), which could be also interesting to support.

One major advantage to keep confidence image could be that for loop closure detection or visual odometry, we could use low confidence to have more denser depth, but for geometric 3D reconstruction, we would want to use high confidence. But to do that, we cannot use user_data, a new feature needs to be implemented. I created an issue about that. However, that is a relatively large change if we do it correctly.

Regards,
Mathieu