Re: Bunlder export: what poses ?

Posted by Pierre on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bunlder-export-what-poses-tp11037p11226.html

Hi Matthieu,

Thanks a lot for adding that feature! I can now carry on scanning in total serenity, knowing everything is safely stored.

Regarding 3D points, I think I may not have phrased my question clearly enough. If I understand correctly, it’s not necessary to use depth from the depth image to calculate 3D points—since if DepthAsMask is off and StereoFromMotion is on, depth can be estimated via SfM in those areas.

So what I’m wondering is: is there an option that allows the user to always favor the SfM-based depth estimation instead of relying on the depth map? With an ARKit-based dataset, this would effectively be an ARKit-odometry-guided SfM, ignoring potentially poor depth maps. Sorry for the confusion earlier.
EDIT: I think I found it - Vis/EstimationType = "2".

One last question/suggestion—setting aside the SfM topic: when depth confidence is available, could it be used as a form of covariance input for PnP? For example, using weighted RANSAC PnP and potentially adapting the PnP covariance based on the depth confidence of the inlier set.

Thanks
Regards

Pierre