Beta testers wanted for iPhone/iPad with LiDAR

[matlabbe]

The App is officially released, should work already on your phones (search RTAB-Map on Apple Store).

[rlangh]

Hi Dr. Mathieu,

I have a problem with my iphone 13 pro max running the app,
it closes when I want to assemble the textured mesh.
It happens after scanning a room, with 0.5 Hz, with no memory warning.
Smaller scans sometimes work.
I tried to reconstruct the mesh with the desktop app, but Im unable to
configure the texture properly, it would be nice to use the app automatically for this.
Other scanner apps run fine on the iphone, what may be the problem?

thanks, robert

[matlabbe]

Hi Robert,

what is the size (MB) of the map (looking in Library view)? What is the RAM usage (top left) before assembling?

For the desktop app, you may try the settings from this example: https://github.com/introlab/rtabmap/wiki/Multi-Session-Mapping-with-RTAB-Map-Tango#7-export-the-mesh

but normally, the app should not crash when assembling, there could be a bug.

[rlangh]

Hi Mathieu!

Thanks for the texturing parameters in the desktop version, its looking really perfect now!
I was only wondering, if the texture layout will be selective, like in most of the other scanner apps,
and not containing all the full photos (but maybe it can be done in meshlab), and the decimation,
that I set to very high, will be somewhat dinamic, (not equal sized triangles).

But the Iphone app is still closing, when I want to assemble a textured mesh, high decimation, clean mesh disabled, low textures...and also closing when I want to reopen the saved .db file.
It allowed me to save an obj file (maybe without poisson surface, becouse it was not very nice),
where I see, that the triangulation is nicely adapting to the surface, but too dense, and I see that the texture layout is the same full frames as in the desktop version, not in other scanner apps..
The precision is awesome, much better after the Tango phone!

The size of the .db file is 72MB.
The memory doesnt go higher than 1GB during the scanning.

As I saw, the app was updated not long ago, maybe the previous version should work on my older 13 PM phone...but its a stupid question :)

Thank You very much, robert

than

[rlangh]

Hi Mathieu!

The app is still closing,
but I was able to do a wonderful assembled poisson mesh from only one corner of the room.
This is what I expected, and now I understand the full frame texture layout, becouse I
can furter decimate it in Meshlab. The texture color balance is perfect, even after the high decimation factor.
I would like to achieve somthing like on this video:
https://www.youtube.com/watch?v=RFUP54rOki0
,because photogrammetry cannot understand the empty flat surfaces, like walls...

thanks, robert

[matlabbe]

I checked again the latest app version from the App Store on a iPad Pro 2020, scanning a little after the first warning up to 1500 MB / 4000 MB of RAM usage. I saved it before assembling right away after stopping mapping in case the app crashes. I did Standard Optimization, then Assembling -> Textured Mesh with default 200 000 polygons. The RAM usage increased up to 3200 MB while generating the optimized mesh. No crash.

I was using the default settings. In your case, which parameters are different from the default ones? Maybe there is a combination of parameters that makes the app crashes. Also, can you reproduce the crash with default parameters?

You could also share me (gdrive/dropbox link here or by email: click on my username and then email button) the scan that is crashing when generating the optimized mesh from the phone. I'll check if it can make my iPad crashes too (in case there is something specific to that scan).

cheers,
Mathieu

[rlangh]

Hi,

With the default settings now it doesnt close any more! It only closes if I set the
texture number to more  than 1, or when setting the texture size to higher then 4096,
(this time the app is not closing, but nothing is displayed). Opening a .db file is also working.
Strange, becouse I tried the default settings before, and it was crashing.
The only change I made with the phone, is turning off the iCloud sinchronization, and stopped the wifi connection.
Is it possible to scan a huge building with the default settings, always saving, and appending new rooms,
if I make the final textured mesh in the desktop version, instead of the phone?

Thank You very much, robert

[matlabbe]

Texture size over 4096 is a known issue: https://github.com/introlab/rtabmap/issues/1469, for the texture count, I added it to that issue.

<quote>
Is it possible to scan a huge building with the default settings, always saving, and appending new rooms,
if I make the final textured mesh in the desktop version, instead of the phone?
<quote>

Yes, it is possible. However, appending mode may be not useful to map very large areas because the first session will be in RAM. You could make multiple independent sessions for smaller areas and combine/assemble them on Desktop app afterwards. One caveat is that you need to make sure to do some overlap with previous sessions so that combining them can be possible afterwards.

cheers,
Mathieu