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How to simplify the tuning of meshing parameters in rtabmap

asked 2019-02-14 12:09:56 -0500

Avner gravatar image

I have a result from rtabmap process that is in rtabmap.db The point cloud and the odometer looks good, but I have trouble to create a textured mesh

I load the data with rtabmap standalone rtabmap ~/.ros/rtabmap.db

After several trials and errors I found the correct settings for the reconstruction of the point cloud, and Cloud filtering I then move on to tune the Meshing parameters. As I repeat the process of trial and error I have to repeat the point cloud regeneration, and cloud filtering, for every trial, which slows down the process considerably. Is there a way to save intermediate results into a temporary database, so that I can work off the temporary database and concentrate only on the meshing parameters?

This question also relates to my other question on how to reduce the point cloud during tuning of the rtabmap parameters

Thanks, Avner

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answered 2019-02-14 14:05:36 -0500

matlabbe gravatar image

You could set the parameters in Preferences->3D Rendering panel (under Map column) so that the cloud in 3D Map view is already the cloud you would want, then on export do not check "Regenerate clouds". Do "Edit->Clear the cache" then "Edit->Dowload all clouds" to refresh the clouds in 3d Map view when changing Preferences parameters. You can also do Edit->View Cloud instead of File->Export to a have a preview of the result directly in RTAB-Map (instead having to open the file in another application). When you are satisfied, do File->Export, the parameters should be the same.

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Asked: 2019-02-14 12:09:56 -0500

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Last updated: Feb 14 '19