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Using Fast GP3 and Organized Surface Reconstruction via CLI #1309
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You would have to change the code here: Lines 1798 to 1805 in 08a44ec
and change it for gp3 following that tutorial for example: https://pcl.readthedocs.io/projects/tutorials/en/latest/greedy_projection.html#greedy-triangulation For To increase speed of Poisson, you can lower the resolution with |
Thanks @matlabbe, will try to modify the code to make |
On my test data, (Generated via GUI using the default export parameter values with 'Meshing' and 'Texture mapping' enabled) |
Organized generates one file, but some polygons taken from different cameras may overlap. For example, when two cameras overlap, you would see two surfaces overlapping when zooming in. With Poisson, only one surface would be generated (like an average of the two surfaces). |
Understood, thanks for the clarification. On a different note, I've noticed that during the mesh export, the GPU usage remains almost zero, even when using the RTAB-Map CUDA version (RTABMap-0.21.4-win64-cuda117.exe). Is this typical? Is there a way to utilize the GPU to speed up the mesh export? |
Hi @matlabbe,
Is it possible to use the
Fast GP3
orOrganized
surface reconstruction methods instead ofPoisson
via command line?In my tests, I found
Poisson
(55s) to be much slower compared toFast GP3
(20s) andOrganized
(15s).The text was updated successfully, but these errors were encountered: