Re: Help with optimized Tango settings?

Posted by matlabbe on Feb 07, 2018; 12:20am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Help-with-optimized-Tango-settings-tp4244p4246.html

Hi,

The fish-eye mode is working only on Phab2Pro. Note that underlaying motion estimation is still using fish-eye on all tango platforms.

I have difficulty to see what exactly you are measuring. I opened your database in RTAB-Map, exported the cloud with meshing (Poisson depth 8), opened it in MeshLab then measured this:

and another measuring trial (kinda difficult in MeshLab to measure without being able to constraint to 2 axes):


When meshing, the algorithm tries to find a surface approximating the point cloud, so removing close layers of point clouds (or double-wall effect). On the phone, if you choose Export->Optimized mesh->Colored mesh, you should have a similar mesh.

I don't see gross errors of mapping in this scan (unless the room should be perfectly rectangular), but following Eric's recommendations may reduce the drift of Tango a little more.

cheers,
Mathieu