Re: Bunlder export: what poses ?

Posted by Pierre on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bunlder-export-what-poses-tp11037p11214.html

Hi Mathieu,

I thank you so much for giving credit to my issues once again :)
I indeed have huge scanning projects, of sizes that are considerably larger than the example database I sent. Having the possibility of recording confidence will definitly change my range of possibilities.

Poisson depth was the same for the two reconstructions, usually I only save the cloud with RTAB and then reconstruct on the side with Meshlab. But you seem to imply in your message that ARKit depth maps are used for PnP and 3D points, in which case it makes sense that BA can make things worse. Out of curiosity, is there a way to ask that 3D points are only calculated with SfM ? I know this is already implemented for masked regions with DepthAsMark.

matlabbe wrote

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.

That sounds good. I had a more "basic" idea in mind, which is to introduce weights in the Poisson equation itself. Or, maybe intuitively clearer, do a tsdf reconstruction and bias the tsdf weights with the depth quality. I think depth quality can fit well with these implicit/volumetric reconstruction algorithms.

Thanks again for your help,
Best

Pierre