Re: RTAB vs other scanning apps for iOS

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-vs-other-scanning-apps-for-iOS-tp10615p10713.html

Hi Pierre,

Thank you for sharing some comparison data. I'll try to test more Scaniverse to see what is going on. Personally, I still not trust that much the low confidence points, most of the time they are highly interpolated and create "fake" surfaces that don't exist. However, in some environments, the interpolated points may be "good enough" to reproduce the overall structure while not being mm accurate. So I understand that could be useful to record that data. In particular for loop closure detection, it is actually better to record with low confidence to use features farther than lidar range. As stated in that feature request, doing this would require significant design.

Note that they could also use something else than low confidence points, like the VIO tracked features themselves, which should be more accurate than the low confidence depth. RTAB-Map records already that data (should be already in your databases), we could combine those tracked features point cloud with the projected depth points before mesh reconstruction. I can try to confirm this when testing Scaniverse.

Pierre wrote

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 :)

That sounds not too complicated to do, like adding a slider on the UI to change it while scanning. I created a feature request about that: https://github.com/introlab/rtabmap/issues/1394

Regards,
Mathieu