This is just amazing. I had a chance to test it. works perfect on iPad 2020. Extreme texture quality in 16K. Really amazing.

Well done ! 👏🏻👏🏻

I am still experimenting with RTAB-MAP and have some questions - Mathieu Labbé would you be open for a quick zoom chat at one point?

Very cool, Mathieu! Can you export the db for use with ROS and RTAB-Map? It would be cool to map environment (faster) with Iphone and then use robot to navigate with the map.

@matlabbe

3 жыл бұрын

The database is compatible with RTAB-Map desktop and rtabmap_ros (if you hold-touch on a database in the Library menu, there will be a Share button... or you can connect your iPad/iPhone on your computer to drag-and-drop the file in Finder). However, the camera of the robot should follow similar paths than the iPad/iPhone did (e.g. same height, same orientation) so that visual localization can work.

Someday, it might be easier to build and scan a 360° set than program the graphics for a photo realistic VR location.

If it is possible to export acc, gyr and magnetomter measurements and poses with timestamp?

This looks amazing and accurate! Is an Android version being considered? (not including the Tango one)

@matlabbe

3 жыл бұрын

I do have an android build (which able to visualize data from the iOS version), but I am not satisfied with the depth camera support with ARCore. To create the maps on android, it would require very specific phones with TOF camera (compatible with ARCore) and some hand tuning for each phone. I hope someday Google will implement a standard API to access TOF cameras in their ARCore, like they did with Google Tango years ago...

@brandmetiswidth4474

2 жыл бұрын

@@matlabbe Hello - would it be possible to release a Beta / Firebase App for the Android build. We've been looking at this sort of tech. Also we've been looking at how other connected inputs into and Android device can enhance this. DM / Email me if that's possible. Love this work. Have tasked one of our iOS devs to have a poke around. Thanks

@andrewmurschel2608

2 жыл бұрын

@@matlabbe What are your thoughts on using an external camera, such as an Intel Realsense D415, connected to an android phone via the OTG port?

Would it be possible to support Intel RealSense l515?

Does rtabmap support localization using the depth cloud or does it only supports localization using images?

@matlabbe

3 жыл бұрын

rtabmap can do it, but it is not enabled in this App.

What does that mean by " However, the camera of the robot should follow similar paths than the iPad/iPhone did (e.g. same height, same orientation) so that visual localization can work"? Can't we use the RTAB map created on the ipad/iphone for other robots?

@matlabbe

Жыл бұрын

We can, following that comment to get localization between the robot and iPad/iPhone map.

@pavanchowdarycherukuri

Жыл бұрын

@@matlabbe Thank you for the reply. I am trying to create a map by using ipad and use it as a map to localize my mobile manipulator(it has RGBD camera and 2D lidar). Could you please let me know if there are any useful references so that I can do this? Thank you.

Works amazingly great app 😊 but for some reason can’t workout how to adjust the clipping plane. If I get too close to an object the o Jeff disappears. How do I adjust the clipping plane ?

@mathieulabbe4889

Жыл бұрын

There is no option to do that, would need to expose that functionality to UI.

@dragonlaw2008

Жыл бұрын

@@mathieulabbe4889 thanks for the reply. There is another issue I’m having after I finish the LiDAR scan & try to build the mesh it disappears ? The only way I can bring it back is clicking the button close visualisation at the bottom. Is there an option I am missing in settings ? Such as making the scene size bigger ?

Amazing project, I see any markers or landmarks in the traject , how do i configure rtabmap so that my mapping is aligned with respect to these marks? thanks

@mathieulabbe4889

2 жыл бұрын

You can enable aruco/april tags detection in settings of the App. They will be used for loop closure detection, but won't be used to transform the map in some world coordinate frame that the tags would be in.

@meinotherside1

2 жыл бұрын

@@mathieulabbe4889 Thank you , but, when I want optimize with this settings the Rtabmap it closes, why ?. I use rtabmap standalone for Windows.

@meinotherside1

2 жыл бұрын

@@mathieulabbe4889 And finally, if I want use only markers for loop closure, is possible ?

@mathieulabbe4889

2 жыл бұрын

@@meinotherside1 Yes, you can disable visual loop closure by setting Preferences->Vocabulary->Maximum words per image... to -1.

@meinotherside1

2 жыл бұрын

@@mathieulabbe4889 thank you for your answers. I will try.

How is a loop closure detected ? Most of my scans suffer from drift and misalignment

@matlabbe

8 ай бұрын

Loop closures are detected visually. Enough discriminative visual features should be detected to close the loop. While scanning, if you come back to a previously scanned area, try looking at it with same point of view than the first traversal to maximize the chance to detect a loop closure. Once a loop closure can be detected, you should see "Loop closure detected" appearing, with background changing to green or yellow like at 0:49.

@cekuhnen

8 ай бұрын

@@matlabbe I will try this tomorrow again I teach in interior design and this app looks very promising

How to build an iOS Scan app with your open source?

@matlabbe

2 жыл бұрын

See github.com/introlab/rtabmap/wiki/Installation#ios

May i know how accuracy is it? 🙇🏻‍♂️

@matlabbe

2 жыл бұрын

Odometry drift is under 1%, though loop closures detected by rtabmap correct most of this drift. In term of LiDAR accuracy, I would say it is in the range of 1-2 cm.