Re: Bunlder export: what poses ?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bunlder-export-what-poses-tp11037p11213.html

Hi Pierre,

That hurts my soul seeing such scanning effort and not able to change the confidence level after the scan has been taken. With the depth confidence, at least we could recover the data we want in post-processing. I'll take a look this week at how to integrate depth confidence in RTAB-Map in short-term, without doing the more general approach discussed in that issue. Other related post.

For why Poisson looked better without BA, if the Poisson depth is not explicitly set, it could have not using the same depth. Lower Poisson depth can better average overlapping surfaces into just one, though we lose geometric details. The BA could also made it worst, the bad depth shown in my previous post may have created not very accurate loop closures, thus adding more errors than reducing them.

For the Poisson-depth confidence aware reconstruction, I could see an algorithm doing similar to this function that would keep low confidence points on a surface only if there are no high confidence points nearby.

cheers,
Mathieu