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

Posted by matlabbe on Jul 14, 2023; 4:28pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Iphone-14-RTAB-Map-is-crazy-good-tp9365p9572.html

ARKit will stop publishing poses when it cannot track features anymore (e.g., in perfect darkness). The data won't be forwarded to rtabmap if so: https://github.com/introlab/rtabmap/blob/64f79813cd2c3a7e3f916a7ef2637e93f1f13a5f/app/ios/RTABMapApp/ViewController.swift#L979-L996. The comment was about to set a parameter to still forward the data with a NULL pose to rtabmap in case of these events.