Re: Bunlder export: what poses ?
Posted by Pierre on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bunlder-export-what-poses-tp11037p11186.html
Hi Mathieu,
I have come to realise that in many (most) of my databases, the bundle adjustments make the camera poses way worse than they were before. This is probably due to the fact that many of the rgb images have sparse and unconsistant lighting (I use a frontlight).
I can provide databases if you're interested. In practice, if I export clouds before any BA, I can do a "high deph" Poisson reconstruction which recovers a good amount of details. After a single iteration of BA, a Poisson reconstruction at the same depth produces triple walls and ceiling artifacts due to unwanted shifts in camera poses. I'm showing an example at the end of this post, although it's not so easy to see with just one screenshot.
Hence I was wondering if it would make sense to allow a Bundler export _with 3D points_ with 0 iterations of BA (right now at least one is required).
Thank you for your help,
Best,
Pierre
Example: backface culled mesh of a cave-in seen from outside. On the first mesh one can see inside the cave-in. The second mesh is after BA, same Poisson depth, but one cannot see inside even if backface culling is on, because of the "double/tripple wall" artifact.
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bunlder-export-what-poses-tp11037p11186.html
Hi Mathieu,
I have come to realise that in many (most) of my databases, the bundle adjustments make the camera poses way worse than they were before. This is probably due to the fact that many of the rgb images have sparse and unconsistant lighting (I use a frontlight).
I can provide databases if you're interested. In practice, if I export clouds before any BA, I can do a "high deph" Poisson reconstruction which recovers a good amount of details. After a single iteration of BA, a Poisson reconstruction at the same depth produces triple walls and ceiling artifacts due to unwanted shifts in camera poses. I'm showing an example at the end of this post, although it's not so easy to see with just one screenshot.
Hence I was wondering if it would make sense to allow a Bundler export _with 3D points_ with 0 iterations of BA (right now at least one is required).
Thank you for your help,
Best,
Pierre
Example: backface culled mesh of a cave-in seen from outside. On the first mesh one can see inside the cave-in. The second mesh is after BA, same Poisson depth, but one cannot see inside even if backface culling is on, because of the "double/tripple wall" artifact.
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