{"action":"created","issue":{"url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/235","repository_url":"https://api.github.com/repos/introlab/rtabmap_ros","labels_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/235/labels{/name}","comments_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/235/comments","events_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/235/events","html_url":"https://github.com/introlab/rtabmap_ros/issues/235","id":314797988,"number":235,"title":"How do I convert a recorded database file into a mesh with tsdf setting","user":{"login":"RajathSwaroop","id":26526561,"avatar_url":"https://avatars3.githubusercontent.com/u/26526561?v=4","gravatar_id":"","url":"https://api.github.com/users/RajathSwaroop","html_url":"https://github.com/RajathSwaroop","followers_url":"https://api.github.com/users/RajathSwaroop/followers","following_url":"https://api.github.com/users/RajathSwaroop/following{/other_user}","gists_url":"https://api.github.com/users/RajathSwaroop/gists{/gist_id}","starred_url":"https://api.github.com/users/RajathSwaroop/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/RajathSwaroop/subscriptions","organizations_url":"https://api.github.com/users/RajathSwaroop/orgs","repos_url":"https://api.github.com/users/RajathSwaroop/repos","events_url":"https://api.github.com/users/RajathSwaroop/events{/privacy}","received_events_url":"https://api.github.com/users/RajathSwaroop/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":23,"created_at":"2018-04-16T20:04:26Z","updated_at":"2018-05-09T00:17:49Z","closed_at":null,"author_association":"NONE","body":"Hi, I have been using rtabmap to develop 3-D reconstruction of my room and found it to be great. However I want to visualize it as a mesh and I found that the mesh reconstruction of the map loses resolution. I would like to know if it is possible to use tsdf setting in meshing to improve the mesh file resolution. \r\n\r\nWhen I try selecting tsdf in the list it does not show me the option."},"comment":{"url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/comments/387581556","html_url":"https://github.com/introlab/rtabmap_ros/issues/235#issuecomment-387581556","issue_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/235","id":387581556,"user":{"login":"matlabbe","id":2319645,"avatar_url":"https://avatars1.githubusercontent.com/u/2319645?v=4","gravatar_id":"","url":"https://api.github.com/users/matlabbe","html_url":"https://github.com/matlabbe","followers_url":"https://api.github.com/users/matlabbe/followers","following_url":"https://api.github.com/users/matlabbe/following{/other_user}","gists_url":"https://api.github.com/users/matlabbe/gists{/gist_id}","starred_url":"https://api.github.com/users/matlabbe/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/matlabbe/subscriptions","organizations_url":"https://api.github.com/users/matlabbe/orgs","repos_url":"https://api.github.com/users/matlabbe/repos","events_url":"https://api.github.com/users/matlabbe/events{/privacy}","received_events_url":"https://api.github.com/users/matlabbe/received_events","type":"User","site_admin":false},"created_at":"2018-05-09T00:17:49Z","updated_at":"2018-05-09T00:17:49Z","author_association":"MEMBER","body":"For the error, this is fixed in https://github.com/introlab/rtabmap/commit/5e93803eef1b4643f8a499a571ecb1a36e5738fb\r\nOtherwise, just disable Node filtering in Preferences->Node filtering.\r\n\r\nFor the thresholds, see this paper: [Appearance-Based Loop Closure Detection for Online Large-Scale and Long-Term Operation](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/b/bc/TRO2013.pdf). For similarity threshold (T_similarity), see section III-B. For loop closure threshold (T_loop), see section III-D. For max time (T_time), see section III-F. \r\n\r\nFor T_loop, setting higher will decrease the chance of bad loop closures (false positives), but will decrease the number of good loop closures as well. In metric SLAM mode, it can be relatively low as loop closures are accepted only if motion estimation can be computed."}}
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