Re: Bunlder export: what poses ?

Posted by Pierre on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bunlder-export-what-poses-tp11037p11207.html

Hi Mathieu,

Thank you for your answer.
I’m sorry I probably misunderstood the log of the Bundler export, I could see « BA » written at each line so I got mistaken. I’ll recompile rtabmap in case it’s an issue on my side.

Maybe it was a coincidence that Poisson reconstruction performs better on clouds before BA, then, seeing the tests you made. Although I really got consistently better results with several databases of that kind, always better before BA. The only reason I can think of that could explain this is if 3D points were calculated using depth map values outside of masked regions instead of SfM, in which case their positions would be biased by poor depth maps and BA would possibly not be able to make the situation better — although I hope it is not the case ?

For the depth confidence, I am using medium. I have to, because scanning this kind of environments with high confidence is close to impossible: depth maps are extremely sparse with very little information. My iOS version is 18.0.1. I do agree that ARKit depth maps are often poor. I’m using an iPhone 15 pro which if I understood correctly has fewer dots but better algorithms… although not good enough.

An option that would be helpful for iOS scans is to provide the depth confidence map to the user instead of having to chose, although we already talked about that and I know it would need some more thoughts (and it is already existing feature request). With that information, a weighted Poisson reconstruction could be performed and I would be very interested in seeing some results of that. Some confidence-biased noise removal could also be considered at the point cloud level (not asking that any of this get implemented in rtab, I’d be happy to work with the raw data myself !)

Is it possible to add an additional field only for databases coming from ARKit, or the structure has to be fully uniform ?

Thanks a lot for all the support,
Best
Pierre