Large scans with RTAB-Map
After a test mapping of a small cavern ( https://skfb.ly/ZnQ8
), a few days ago I made this scan of a "large" natural cave. Since it was larger than the previous one, I made it in four segments.
While I'm still learning to use the best settings of MeshLab to get the best possible conversion from a point-cloud to a mesh, I found some difficulty with RTAB-Map, both on mobile and PC.
With RTAB mobile I had some small misalignments inside the cave (i.e. the bench), perhaps due to the low light but I'm not worried about that, I do not need a millimeter precision. Once imported into MeshLab, the three interior sections overlapped almost perfectly. With the fourth segment, the outer one, I had some very big problems of misalignment, as you can see in the middle of the central field there is a rectangle ground raised by at least half a meter above the surrounding land.
What I'm asking is:
- Is there a way to minimize the chances of this happening during the scan? What RTAB-Map Mobile settings should I use to get the best mappings? "Localization Mode", "Filtering Nodes" "Drift Correction"? Which movement technique?
- Is there a way to correct these misalignments in RTAB-Map PC? I tried various options in "Post processing ..." but I did not get such improvements to correct that big flaw at the center. The tutorials are a bit outdated https://goo.gl/fljMgj
- Is it possible to manually correct the misalignment in RTAB-Map, perhaps by changing the "inclination" of some nodes?
This scan has been made in one hour with Lenovo Phab 2 Pro pushed to the limits of its hardware, it was heating up and slowing down, fortunately without crashing. I can't imagine how it could be using an Asus Zenfone AR with the better hardware it has... Hello Asus, any spare? Do you need a tester? ;) :D