Here some results (without and with texture): To correctly see the texture on the mesh, you can turn off shading (click "None" on right panel): On latest MeshLab version, the texture is applied on the mesh directly when the generation is completed. Depending on your GPU, you could even create a larger texture (my laptop MeshLab crashes with a size of 4096 for example). On the texture dialog, I just changed texture size to 2048 so have more resolution then press "Apply". Generate the texture by clicking on Filters->Texture->"Parametrization+texturing from registered rasters": So remove them by clicking on Filters->Selection->"Select non-Manifold Edges", then click "Apply" and click on button "Delete current selected vertices." (the one in the yellow circle below): Generating a texture requires that the model has only "manifold" edges. In the "Open image list file" dialog, select the list.txt.Ĭlick "Import mesh" and select the y generated by RTAB-Map: In the "Open project file" dialog, select cameras.out inside the exported directory above. Open MeshLab (use latest version if possible so that instructions below match, tested on v2016.12) Wait until the generation of the mesh is done and save it ( y) in the bundler directory created previously: Restore settings, then configure the Export 3D clouds dialog like this: Open Preferences dialog again under 3D Rendering panel and uncheck "Node filtering", then press "OK":Ĭlick on File->"Export 3D clouds.". Now you should have the bundler directory filled with cameras.out, list.txt and images directory. On older versions, you will be asked to export the cloud/mesh, press "No" as we will export the mesh using more cameras in the next steps. The exported format is the one used by Bundler and MeshLab can import it. To limit the number of cameras exported, open the Preferences menu and under 3D Rendering, set the node filtering parameters as this and click "OK" (note that in latest versions, it is called "Pose filtering" under Cloud Filtering panel):Ĭlick on File->"Export cameras in Bundler format (*.out)."Ĭreate a directory bundler and select it. If the environment has a lot of geometry, you can refine the links with ICP. Detecting more loop closures give generally good results. In some cases, the results may be worst with SBA, to revert post-processing, just click on Edit->"Download graph only" (with global optimized option). You will then get the point cloud as the third image. Sparse Bundle Adjustment (SBA) will optimize the map with the camera positions and the matching visual features between the cameras. Set the parameters as below and click OK. To do that, click on Tools->"Post-processing.". Optional We will do a post-processing of the map to make it more straight. In the 3D Map view, you should see the point cloud like this: Open the download database 2loops_workspace_3IT.dbĬlick on "Download all clouds (update cache)". Reset all parameters to default settings (Window->Preferences->General Settings (GUI)->Reset all settings) Here is an example of meshing with MeshLab without texturing:ĭownload this database: 2loops_workspace_3IT.db Here is an example of the results from this tutorial (without and with texture): The mapping session was done using the default parameters of RTAB-Map with a Xtion Live Pro using factory calibration (which has some distorsions over 3 meters). For convenience, I provide a mapping session, but you can try it with your own maps. The goal of this tutorial is to export a low resolution mesh and cameras to MeshLab so we can generate a texture for the mesh.
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