Scan (app) > import/optimize (PC) > export

Posted by HTDcris on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Scan-app-import-optimize-PC-export-tp2634.html

Hi matlabbe,
I will divide my questions by topic for better readability

Scan with RTAB-Map on Phab2Pro

A few weeks ago in this post https://goo.gl/waVGSD you told me to use Mesh Rendering set "Mesh" (without texture) and decimation to "Medium". Isn't better to use the simple "point cloud" to save RAM?
Also, during capture, should i enable "Drift correction" to get better results?

Importing .db to RTAB-Map

I have big problems of alignment with a scan I did recently. I noticed a bad alignment already when I was scanning. I tried to go a few times on the same point hoping for a loop closure but this did not work.

I know... this scan is a bit messy and hard to understand. It is the entrance of a natural cave with some trees around.

Why when I open the DB with "Global Map optizied" i get this bad result



...and when I open it with "Global Map not optimized" I get this much better result?



With the "not optimized" option I get only few trees mis-aligned. Wit the optimized version I get almost three planes of terrain mis-aligned at the entrance..
I want just correct the misalignment.
The original database is here:
https://drive.google.com/file/d/0B3xmLzdcR2kEWnRyRWUxckpuWTA/view?usp=sharing

What are the best settings to exploit the full power of a desktop for the post process? I do not need realtime post-processing, I have no problems to wait for hours to get the best result possible.

In v0.11.14 (64bit Win10) release notes you said that GTSAM graph optimization is now available but I can't find it. It isn't selectable in the "post processing" window. Only g2go.

EXPORTING Point Cloud from RTAB-Map

What are the best settings to export the best point colud? Organized or dense point clouds?

When exporting mesh with textures and poissons reconstruction with default settings I get an error in Meshlab wen opening the file and the textures are not displayed.

Thanks!