Re: Quality of Output
Posted by matlabbe on Oct 18, 2020; 1:28am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Quality-of-Output-tp7034p7053.html
Based on the raw cloud in your database, I am surprised that the resulting mesh is as good.
Before trying to estimate a mesh from the point cloud, we should make sure that the point cloud is good. We can easily see here that the walls seem almost 1 meter thick! The cloud above is not good enough. I see either a lot of drifting from T265 or the static transform between the D400 and the T265 is wrong. Note also that D400 is a not a TOF or LiDAR camera, the resulting point cloud will always be a little wavy on textureless surfaces. You can also limit the range of the depth image under 3 meters (D400 is quite noisy over 3 meters).
URL: http://official-rtab-map-forum.206.s1.nabble.com/Quality-of-Output-tp7034p7053.html
Based on the raw cloud in your database, I am surprised that the resulting mesh is as good.
Before trying to estimate a mesh from the point cloud, we should make sure that the point cloud is good. We can easily see here that the walls seem almost 1 meter thick! The cloud above is not good enough. I see either a lot of drifting from T265 or the static transform between the D400 and the T265 is wrong. Note also that D400 is a not a TOF or LiDAR camera, the resulting point cloud will always be a little wavy on textureless surfaces. You can also limit the range of the depth image under 3 meters (D400 is quite noisy over 3 meters).
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