Slicing about kintinuous HOT 4 CLOSED

Use ElasticFusion probably. Kintinuous isn't great for very small loops.

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Hi Thomas, fantastic work by the way.

I actually tried EF first, but my data consists of long, linear, forward facing trajectories. It didn't work.

Kintinuous seems to do a very good job. Is there anyway of increasing the resolution of the end point cloud , I mean, keep a large volume but end up with a dense cloud.

Cheers

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The point cloud resolution is a function of the voxel resolution. A larger volume has a lower resolution, so if you ask for more points those points are literally just linear interpolations of the low resolution surface you're sampling. You could not apply the VoxelGrid filter here to get more points https://github.com/mp3guy/Kintinuous/blob/master/src/backend/CloudSliceProcessor.cpp#L119, but that won't do anything about the sparsity. You'd have to write a new function to extract more points from the surface, by modifying the extraction function here https://github.com/mp3guy/Kintinuous/blob/master/src/frontend/cuda/extract.cu#L121.

Also if EF isn't working try increasing the max depth to 6m, use the -ftf parameter and lower the -c threshold.

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Cheers!

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