Re: Pointcloud behind objects get colored

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Pointcloud-behind-objects-get-colored-tp11116p11155.html

I re-tested and yeah, it would indeed influence the density of the point cloud. Only the best point per pixel is kept, so reducing the resolution means less points kept in the final cloud.

I revisited the implementation to still colorize close points to the closest one. The improved approach has been added in this commit.

By default, the old behavior is done, like the second image below. To enable it with rtabmap-export, use --texture_depth_error:

rtabmap-export --cloud --cam_projection --texture_depth_error 0.05 --cam_projection_decimation 16 rtabmap.db

In DatabaseViewer, the new option has been added under Camera Projection group:


cheers,
Mathieu