Re: Bunlder export: what poses ?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bunlder-export-what-poses-tp11037p11221.html

Hi Pierre,

We recompute the visual features for loop closure detection, meaning we re-extract 2D keypoints and descriptors, then use depth image to estimate their 3D position. If the depth image has mostly null values, then BA done in rtabmap won't work great. We don't use the 3d visual features tracked by ARKit. Note also that "Mem/DephAsMask" may not always work (a warning should be shown if not), it requires that RBG resolution should be a multiple of depth resolution, if not, the depth is ignored and features are extracted whether there is depth or not. Features without depth are ignored during BA. That is a reason why using low depth confidence (dense depth) may be useful for features extraction and BA.

FYI, version 0.22.0 of RTAB-Map iOS is currently in review on appstore, it should be released tomorrow or early this week. In that version, we keep both the original ARKit's depth and confidence images in the database, so it is now possible to change the confidence level after scanning and re-export. At least until we have smarter reconstruction algorithms supporting the depth confidence, you will have already the data in your next scans.

cheers,
Mathieu