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How to tune the meshing of point cloud effectively in rtabmap

asked 2019-02-12 16:15:48 -0600

Avner gravatar image

updated 2019-02-14 12:12:40 -0600

I have a point cloud that I want to mesh using rtabmap standlaone utility. I load the data with

rtabmap ~/.ros/rtabmap.db

In rtabmap I engage the following steps

  • Regenerate clouds
  • Cloud filtering
  • Cloud smoothing
  • Meshing

To learn the impact of the parameters and to tune the parameters, I set a specific combination of parameters and create the mesh. But I find it cumbersome to wait for the entire mesh to be generated every time.

Ideally, I will only load a small specific section of the point cloud and apply this procedure.

The only way that I know of, to load the data is by opening the database rtabmap.db

I'm thinking of the following alternative:

  1. Load the database rtabmap.db once
  2. Export from rtabmap into a model.ply file, then open the point cloud with e.g. meshlab and discard all the points expect for a certain area1, and export into a filtered point cloud file
  3. In rtabmap, load the filtered point cloud file to work with much smaller dataset.

Is such thing, or similar approach possible?

This question also relates to my other question on how to decouple the steps to simplify the tuning of meshing parameters.

Thanks,

Avner

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answered 2019-02-14 13:58:35 -0600

matlabbe gravatar image

It is not possible to re-import a point cloud in RTAB-Map. Unless in the final application it should be RTAB-Map that automatically create your mesh with tuned parameters, you can export the cloud to MeshLab, edit the point cloud and create the mesh in MeshLab. You can also use pcl_poisson_reconstruction, the approach on which RTAB-Map is based by default to create a mesh.

To export only a portion of the map, in RTAB-Map window, click on "Window->Show View->Map visibility". There only checked nodes will be exported.

cheers,
Mathieu

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@Avner if this solved your problem then can you please mark it as correct by clicking on the check mark

jayess gravatar imagejayess ( 2019-08-15 20:20:21 -0600 )edit

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Asked: 2019-02-12 16:15:48 -0600

Seen: 121 times

Last updated: Feb 14