Re: Iphone 14 RTAB-Map is crazy good!!

Posted by matlabbe on Jul 10, 2023; 8:52pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Iphone-14-RTAB-Map-is-crazy-good-tp9365p9556.html

Hi,

It may work for room-size spaces. See http://official-rtab-map-forum.206.s1.nabble.com/Kinect-For-Azure-L515-ICP-lighting-invariant-mapping-td7187.html for parameters on desktop app.

On iOS app, you may disable loop closure detection and increase recording rates to have more frames. Set rendering parameters to lowest resolution to avoid fully RAM with rendering stuff. One issue I see if that in total darkness, it may not sop recording frames when VIO cannot output poses. Ideally, we would need to add an option for recording the image data without the pose.

On desktop app, you would have to use as input source a database created from iPad app. Also uncheck "Use odometry saved in database", to make rtabmap recompute ICP odometry with the parameters of the linked post above.

cheers,
Mathieu