Is it possible to defer loop closure on iOS to save performance during scanning?

[vzett]

Hi,

I have a question regarding the RTAB-Map iOS app. I am looking for a way to save performance and battery while actively scanning.

Is it possible to perform a scan on an iPhone with loop closure disabled, and then later (in a post-processing step) calculate the loop closures and generate the mesh directly on the same iPhone?

The background for this question is that I would like to reduce the computational load while walking around and scanning, and only do the heavy lifting (loop closure and meshing) once the active scanning process is finished.

Thank you in advance for your help!

[matlabbe]

Hi

Is it possible to perform a scan on an iPhone with loop closure disabled,

yes, enable "Data Recording" mode in the main menu on the App.

and then later (in a post-processing step) calculate the loop closures and generate the mesh

yes, using the desktop version of RTAB-Map, see links in this post (reprocessing) http://official-rtab-map-forum.206.s1.nabble.com/How-to-configure-Iphone-settings-in-Rtab-map-iOS-app-tp11452p11455.html and (export mesh) https://github.com/introlab/rtabmap/issues/1320#issuecomment-2403737157

directly on the same iPhone?

an no.

cheers,
Mathieu