R200 Scene Perception - texture output for the mesh

[Dragos_Ioan_C_]

Hi guys,

How do you texture your .obj after exporting ? Is there a way to automate this process, like the 3DScan utility does ?

Also, how do you customize the camera settings for the Scene Perception build ?

Lastly, the IMU loses its position regularly and there are frequent black holes/spots, even if the lighting is uniform and the scene is vividly colored. Even if I cross with the camera repeatedly over the same spot, the R200 doesn't update the scanning information, leaving holes in the mesh.

Thanks,

[Xusheng_L_Intel]

The output .obj file already contains color for each vertex. What do you want? We will improve the texturing in the future release and will be less holes and almost no black spots anymore. Scanning stops if the tracking accuracy is low or medium and recovers when tracking accuracy is high. You can force the scanning to continue by calling DoReconstruction. Thanks!

[Robert_Oschler]

@David - can you point me to a document that explains in detail what lighting/room/etc. aspects determine tracking accuracy and what the usual remedies are to improve tracking accuracy with the R200?

[Bradley_F_]

From my experience and guess work...

Tips:

Asymmetry - good

Medium sized details - good

Large perfectly flat surfaces - bad

Shiny (specular) surfaces - bad

Matte surfaces - better

Dark surfaces - (often) bad

Light surfaces - (often) better

Theory:

Pattern matching frame to frame is done in 3d based on depth (points).  color stream doesn't seem to be used to track.

All depth comes from NIR (near infra-red)

NIR isn't so dissimilar from visible light that basic rules of "light" versus "dark" colors (reflectance) don't apply.  Generally, darker materials don't reconstruct so well.  Living plant-life appears to be an exception to that generalization however.

Shiny surfaces usually bounce structured light in ways that are not useful.  Either creating misleading details (reflections) or simply by bouncing most of the structured light away and leaving little to bounce in the more useful diffuse manner.

Coping mechanisms:

Add a vase, picture, sculpture or end-table to the big flat wall or floor.

Put some magazines on the end of the coffee table.

Etc.

Red herrings:

Since the color stream isn't used to track, high contrast patterns (colored tracking markers) don't seem to help so much.  Though if the darker parts of a pattern are dark enough to fail to reconstruct, they could help the tracking, at the expense of being able to reconstruct the dark parts.  Not advisable for the general case.  But maybe useful in some cases.

[Robert_Oschler]

Thanks Bradley.