Re: Noisy floor with ARKit

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Noisy-floor-with-ARKit-tp10530p10536.html

Hi Pierre,

Unfortunately, we don't keep the confidence image in the database, so we cannot change it in post-processing.

For the "laser scans" in the database, it is a "debug hack" to save raw ARKit tracked visual features in the database. The real laser scan is contained already in the depth image (with high confidence pixels) when we use a iPhone/iPad with LiDAR. If the iPhone/iPad doesn't have a LiDAR, I am not sure what high confidence would mean.

I think when we don't move, ARKit doesn't return any tracked features, so it may be why you see some nodes without points.

Regards,
Mathieu