Re: RTAB vs other scanning apps for iOS
Posted by Pierre on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-vs-other-scanning-apps-for-iOS-tp10615p10703.html
Hi,
After doing more testing (and using RTAB and Scaniverse both for many hours of scanning), I almost certain that there is more going on Scaniverse than just using high confidence.
For a static image like your example, it seems that it does use high confidence indeed. The difference of behaviour starts when you move the phone around. It is not so easy to show a comparison on the forum but I'll try to see if I can include some videos if you find this helpful.
A concrete example where the difference is obvious, but in practice it affects all my scans: I have been scanning a gallery which is fairly high and narrow. Using high confidence in RTAB, and walking while filming, all the depth maps didn't see the ceiling and the walls. On the other hand, walking the exact same way with Scaniverse produced a decent mesh.
First image: example of RTAB's depth map in high confidence. In particular, the exported point cloud only shows the floor and a bit of the walls. Second picture is a screenshot of Scaniverse's mesh.
Where I am going with that is that I hope this is some additional motivation to add an option in the iOS app where all points of any confidence are kept in the database, but additionally a grayscale image of their respective confidence so that they can be used as weight in an implicit surface reconstruction algorithm (at post-production, not live).
Right now, we have to make a fixed choice of confidence that cannot be changed within the scan, which is very unflexible for the conditions in which I'm using the app although I understand that I might use it in an exotic way. A temporary solution would be to enable switching between levels of confidence within a scan (you could use low/middle and switch to high when for capturing a smaller object in the scene, for example). This would already be extremely helpful for me :)
I hope my story makes a bit more sense now. I thank you a lot for your help.
Best,
Pierre
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-vs-other-scanning-apps-for-iOS-tp10615p10703.html
Hi,
After doing more testing (and using RTAB and Scaniverse both for many hours of scanning), I almost certain that there is more going on Scaniverse than just using high confidence.
For a static image like your example, it seems that it does use high confidence indeed. The difference of behaviour starts when you move the phone around. It is not so easy to show a comparison on the forum but I'll try to see if I can include some videos if you find this helpful.
A concrete example where the difference is obvious, but in practice it affects all my scans: I have been scanning a gallery which is fairly high and narrow. Using high confidence in RTAB, and walking while filming, all the depth maps didn't see the ceiling and the walls. On the other hand, walking the exact same way with Scaniverse produced a decent mesh.
First image: example of RTAB's depth map in high confidence. In particular, the exported point cloud only shows the floor and a bit of the walls. Second picture is a screenshot of Scaniverse's mesh.
Where I am going with that is that I hope this is some additional motivation to add an option in the iOS app where all points of any confidence are kept in the database, but additionally a grayscale image of their respective confidence so that they can be used as weight in an implicit surface reconstruction algorithm (at post-production, not live).
Right now, we have to make a fixed choice of confidence that cannot be changed within the scan, which is very unflexible for the conditions in which I'm using the app although I understand that I might use it in an exotic way. A temporary solution would be to enable switching between levels of confidence within a scan (you could use low/middle and switch to high when for capturing a smaller object in the scene, for example). This would already be extremely helpful for me :)
I hope my story makes a bit more sense now. I thank you a lot for your help.
Best,
Pierre
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