Re: 3D reconstruction of a table scene using rtab-mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/3D-reconstruction-of-a-table-scene-using-rtab-mapping-tp2147p2205.html

Hi,

Can you show screenshots comparing Xtion vs Kinect v2 for the same object?

On a side note, if your objects have a lot of geometry (and not too many visual features), you could activate ICP to get a more precise registration between frames. To do so, you should activate "Generate laser scan from depth image" under "Laser scans" section in Source panel. In "Motion Estimation" panel (Advanced options), select "Visual + Geometry ICP" registration approach. The ICP parameters are under "ICP Registration" panel for fine tuning (e.g., you may want to activate Point-to-Plane ICP as you are mapping surfaces).

cheers,
Mathieu