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feat(slam): add rtabmap_ros

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X-lanni
2025-07-14 11:34:38 +08:00
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rtabmap/app/ios/Settings.bundle/Assembling.plist
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
<plist version="1.0">
<dict>
<key>StringsTable</key>
<string>Assembling</string>
<key>PreferenceSpecifiers</key>
<array>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>If you don&apos;t need a very precise point cloud, you can set this to reduce the output point cloud size. This is also used for optimized mesh.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Voxel Size</string>
<key>Key</key>
<string>VoxelSize</string>
<key>DefaultValue</key>
<real>0.01</real>
<key>Titles</key>
<array>
<string>20 cm</string>
<string>10 cm</string>
<string>5 cm</string>
<string>2 cm</string>
<string>1 cm</string>
<string>0.5 cm</string>
<string>Disabled</string>
</array>
<key>Values</key>
<array>
<real>0.2</real>
<real>0.1</real>
<real>0.05</real>
<real>0.02</real>
<real>0.01</real>
<real>0.005</real>
<real>0</real>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>If the map is large, you may want to increase this to maximize the texture resolution.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Texture Size</string>
<key>Key</key>
<string>TextureSize</string>
<key>DefaultValue</key>
<integer>4096</integer>
<key>Titles</key>
<array>
<string>16384x16384</string>
<string>8192x8192</string>
<string>4096x4096</string>
<string>2048x2048</string>
<string>1024x1024</string>
</array>
<key>Values</key>
<array>
<integer>16384</integer>
<integer>8192</integer>
<integer>4096</integer>
<integer>2048</integer>
<integer>1024</integer>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Note that all textures are still merged into one for visualization, but exported in multiple files.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Maximum Output Textures</string>
<key>Key</key>
<string>MaximumOutputTextures</string>
<key>DefaultValue</key>
<integer>1</integer>
<key>Titles</key>
<array>
<string>8</string>
<string>7</string>
<string>6</string>
<string>5</string>
<string>4</string>
<string>3</string>
<string>2</string>
<string>1</string>
</array>
<key>Values</key>
<array>
<integer>8</integer>
<integer>7</integer>
<integer>6</integer>
<integer>5</integer>
<integer>4</integer>
<integer>3</integer>
<integer>2</integer>
<integer>1</integer>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>K-nearest neighbors used for normal computation when a mesh is created.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Normal K</string>
<key>Key</key>
<string>NormalK</string>
<key>DefaultValue</key>
<integer>18</integer>
<key>Titles</key>
<array>
<string>30</string>
<string>24</string>
<string>18</string>
<string>12</string>
<string>6</string>
</array>
<key>Values</key>
<array>
<integer>30</integer>
<integer>24</integer>
<integer>18</integer>
<integer>12</integer>
<integer>6</integer>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Maximum distance from a camera for polygons to be textured by this camera.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Max Texture Distance</string>
<key>Key</key>
<string>MaxTextureDistance</string>
<key>DefaultValue</key>
<real>3</real>
<key>Titles</key>
<array>
<string>No Limit</string>
<string>5 m</string>
<string>4.5 m</string>
<string>4 m</string>
<string>3.5 m</string>
<string>3 m</string>
<string>2.5 m</string>
<string>2 m</string>
</array>
<key>Values</key>
<array>
<real>0</real>
<real>5</real>
<real>4.5</real>
<real>4</real>
<real>3.5</real>
<real>3</real>
<real>2.5</real>
<real>2</real>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Minimum polygon cluster size to be textured by a camera. This helps to filter sparse textured polygons.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Min Texture Cluster Size</string>
<key>Key</key>
<string>MinTextureClusterSize</string>
<key>DefaultValue</key>
<integer>50</integer>
<key>Titles</key>
<array>
<string>1000</string>
<string>500</string>
<string>200</string>
<string>100</string>
<string>50</string>
<string>10</string>
<string>Disabled</string>
</array>
<key>Values</key>
<array>
<integer>1000</integer>
<integer>500</integer>
<integer>200</integer>
<integer>100</integer>
<integer>50</integer>
<integer>10</integer>
<integer>0</integer>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>Title</key>
<string>Optimized</string>
<key>FooterText</key>
<string>Lowering this parameter decreases reconstruction time, but geometry precision is lower. Minimum polygon size: map length / 2^depth). &quot;Auto&quot; means that depth is chosen so that polygon size is just under 3 cm.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Reconstruction Depth</string>
<key>Key</key>
<string>ReconstructionDepth</string>
<key>DefaultValue</key>
<integer>0</integer>
<key>Titles</key>
<array>
<string>Auto</string>
<string>12</string>
<string>11</string>
<string>10</string>
<string>9</string>
<string>8</string>
<string>7</string>
<string>6</string>
</array>
<key>Values</key>
<array>
<integer>0</integer>
<integer>12</integer>
<integer>11</integer>
<integer>10</integer>
<integer>9</integer>
<integer>8</integer>
<integer>7</integer>
<integer>6</integer>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Radius used to transfer nearest color from the point cloud to reconstructed mesh. When exporting with texture, if Clean Mesh is also enabled, this will limit the number of polygons textured in holes.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Color Radius</string>
<key>Key</key>
<string>ColorRadius</string>
<key>DefaultValue</key>
<real>0.05</real>
<key>Titles</key>
<array>
<string>Nearest</string>
<string>2 m</string>
<string>1 m</string>
<string>0.5 m</string>
<string>0.2 m</string>
<string>0.1 m</string>
<string>0.05 m</string>
<string>0.025 m</string>
<string>0.02 m</string>
<string>0.015 m</string>
<string>0.01 m</string>
<string>Disabled</string>
</array>
<key>Values</key>
<array>
<real>0</real>
<real>2</real>
<real>1</real>
<real>0.5</real>
<real>0.2</real>
<real>0.1</real>
<real>0.05</real>
<real>0.025</real>
<real>0.02</real>
<real>0.015</real>
<real>0.01</real>
<real>-1</real>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Clean mesh from textureless or colorless reconstructed polygons.</string>
</dict>
<dict>
<key>Type</key>
<string>PSToggleSwitchSpecifier</string>
<key>Title</key>
<string>Clean Mesh</string>
<key>Key</key>
<string>CleanMesh</string>
<key>DefaultValue</key>
<true/>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Standard OBJ format has colorless polygons where there is no texture. This policy can add color to vertex when exporting the OBJ.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Texture Vertex Color Policy</string>
<key>Key</key>
<string>TextureVertexColorPolicy</string>
<key>DefaultValue</key>
<integer>0</integer>
<key>Titles</key>
<array>
<string>Colorless (standard OBJ)</string>
<string>Keep color only on textureless polygons</string>
<string>Keep all color</string>
</array>
<key>Values</key>
<array>
<integer>0</integer>
<integer>1</integer>
<integer>2</integer>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>This can be used to filter polygons before texturing.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Polygon Filtering</string>
<key>Key</key>
<string>PolygonFiltering</string>
<key>DefaultValue</key>
<integer>0</integer>
<key>Titles</key>
<array>
<string>Only biggest cluster kept</string>
<string>Keep all polygons</string>
</array>
<key>Values</key>
<array>
<integer>-1</integer>
<integer>0</integer>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>The format of exported point cloud data.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Export Point Cloud Format</string>
<key>Key</key>
<string>ExportPointCloudFormat</string>
<key>DefaultValue</key>
<string>ply</string>
<key>Titles</key>
<array>
<string>PLY</string>
<string>LAS</string>
<string>LAZ</string>
</array>
<key>Values</key>
<array>
<string>ply</string>
<string>las</string>
<string>laz</string>
</array>
</dict>
</array>
</dict>
</plist>
rtabmap/app/ios/Settings.bundle/License.plist
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
<plist version="1.0">
<dict>
<key>StringsTable</key>
<string>License</string>
<key>PreferenceSpecifiers</key>
<array>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>
======= RTAB-Map =======
RTAB-Map - https://github.com/introlab/rtabmap
Copyright (c) 2010-2024, Mathieu Labbe - IntRoLab - Universite de Sherbrooke, all rights reserved.
Copyright (c) XXX, contributors, all rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this
list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of the copyright holders nor the names of the
contributors may be used to endorse or promote products derived from
this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
======= OpenCV =======
Copyright (C) 2000-2021, Intel Corporation, all rights reserved.
Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
Copyright (C) 2009-2016, NVIDIA Corporation, all rights reserved.
Copyright (C) 2010-2013, Advanced Micro Devices, Inc., all rights reserved.
Copyright (C) 2015-2021, OpenCV Foundation, all rights reserved.
Copyright (C) 2015-2016, Itseez Inc., all rights reserved.
Copyright (C) 2019-2021, Xperience AI, all rights reserved.
Third party copyrights are property of their respective owners.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the names of the copyright holders nor the names of the contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
This software is provided by the copyright holders and contributors "as is" and
any express or implied warranties, including, but not limited to, the implied
warranties of merchantability and fitness for a particular purpose are disclaimed.
In no event shall copyright holders or contributors be liable for any direct,
indirect, incidental, special, exemplary, or consequential damages
(including, but not limited to, procurement of substitute goods or services;
loss of use, data, or profits; or business interruption) however caused
and on any theory of liability, whether in contract, strict liability,
or tort (including negligence or otherwise) arising in any way out of
the use of this software, even if advised of the possibility of such damage.
======= Point Cloud Library =======
Point Cloud Library (PCL) - www.pointclouds.org
Copyright (c) 2009-2012, Willow Garage, Inc.
Copyright (c) 2012-, Open Perception, Inc.
Copyright (c) XXX, respective authors.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above
copyright notice, this list of conditions and the following
disclaimer in the documentation and/or other materials provided
with the distribution.
* Neither the name of the copyright holder(s) nor the names of its
contributors may be used to endorse or promote products derived
from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
======= g2o =======
g2o - General Graph Optimization
Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are
met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
======= GTSAM =======
Copyright (c) 2010, Georgia Tech Research Corporation
Atlanta, Georgia 30332-0415
All Rights Reserved
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the name of the copyright holders nor the names of its contributors
may be used to endorse or promote products derived from this software without
specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED
TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY
WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
======= libLAS =======
Copyright (c) 2007, Martin Isenburg, isenburg at cs.unc.edu
Copyright (c) 2008, Howard Butler, hobu.inc at gmail.com
Copyright (c) 2008, Mateusz Loskot, mateusz at loskot.net
Copyright (c) 2008, Phil Vachon, philippe at cowpig.ca
Copyright (c) 2008, Frank Warmerdam, warmerdam at pobox.com
Copyright (c) 2008, Martin Rodriguez, mrodriguez at stereocarto.com
Copyright (c) 2016, Oscar Martinez Rubi o.rubi at esciencecenter.nl
Copyright (c) 2016, Romulo Goncalves r.goncalves at esciencecenter.nl
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following
conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in
the documentation and/or other materials provided
with the distribution.
* Neither the name of the Martin Isenburg or Iowa Department
of Natural Resources nor the names of its contributors may be
used to endorse or promote products derived from this software
without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
OF SUCH DAMAGE.
</string>
</dict>
</array>
</dict>
</plist>
rtabmap/app/ios/Settings.bundle/Mapping.plist
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
<plist version="1.0">
<dict>
<key>StringsTable</key>
<string>Mapping</string>
<key>PreferenceSpecifiers</key>
<array>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>When resuming mapping, wait for a relocalization on the current map before starting a new map.</string>
</dict>
<dict>
<key>Type</key>
<string>PSToggleSwitchSpecifier</string>
<key>Title</key>
<string>Append Mode</string>
<key>Key</key>
<string>AppendMode</string>
<key>DefaultValue</key>
<true/>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Save HD images of the color camera if you want very detailed textures. More memory will be required.</string>
</dict>
<dict>
<key>Type</key>
<string>PSToggleSwitchSpecifier</string>
<key>Title</key>
<string>HD Mode</string>
<key>Key</key>
<string>HDMode</string>
<key>DefaultValue</key>
<false/>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>When this is disabled (or the phone doesn&apos;t have LiDAR), only tracked features from ARKit will be mapped into a point cloud.</string>
</dict>
<dict>
<key>Type</key>
<string>PSToggleSwitchSpecifier</string>
<key>Title</key>
<string>LiDAR Mode</string>
<key>Key</key>
<string>LidarMode</string>
<key>DefaultValue</key>
<true/>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Choosing between high and low depth confidence depends on the application. If precise geometry is critical, prioritize high depth confidence even if it means fewer points. If you need a dense point cloud for analysis, even in areas with weak LiDAR signal, a lower depth confidence might be suitable at the cost of highly interpolated points (that could give a wavy look of some surfaces). Note: it is possible to change confidence level in post-processing.</string>
</dict>
<dict>
<key>DefaultValue</key>
<integer>2</integer>
<key>Key</key>
<string>DepthConfidence</string>
<key>Title</key>
<string>Depth Confidence</string>
<key>Titles</key>
<array>
<string>High</string>
<string>Medium</string>
<string>Low</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<integer>2</integer>
<integer>1</integer>
<integer>0</integer>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Smooth the point clouds. Note that this can be changed in post-processing.</string>
</dict>
<dict>
<key>Type</key>
<string>PSToggleSwitchSpecifier</string>
<key>Title</key>
<string>Smoothing</string>
<key>Key</key>
<string>Smoothing</string>
<key>DefaultValue</key>
<false/>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Filter interpolated depth pixels between foreground and background objects. Note that values can be changed in post-processing.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Depth Bleeding Filter Error</string>
<key>Key</key>
<string>DepthBleedingError</string>
<key>DefaultValue</key>
<string>0</string>
<key>Titles</key>
<array>
<string>Disabled</string>
<string>2.5 cm</string>
<string>5 cm</string>
<string>10 cm</string>
<string>15 cm</string>
<string>20 cm</string>
<string>25 cm</string>
<string>30 cm</string>
</array>
<key>Values</key>
<array>
<string>0</string>
<string>0.025</string>
<string>0.05</string>
<string>0.10</string>
<string>0.15</string>
<string>0.20</string>
<string>0.25</string>
<string>0.30</string>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Filter ARKit&apos;s re-localization events to avoid jumps in odometry when creating a map with RTAB-Map, which would cause large drift errors that are difficult to correct. Set an acceleration threshold to detect those events.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>ARKit Re-Localization Acceleration Threshold</string>
<key>Key</key>
<string>UpstreamRelocalizationFilteringAccThr</string>
<key>DefaultValue</key>
<string>58.8399</string>
<key>Titles</key>
<array>
<string>Disabled</string>
<string>10 g</string>
<string>9 g</string>
<string>8 g</string>
<string>7 g</string>
<string>6 g</string>
<string>5 g</string>
<string>4 g</string>
<string>3 g</string>
<string>2 g</string>
</array>
<key>Values</key>
<array>
<string>0</string>
<string>98.0665</string>
<string>88.25985</string>
<string>78.4532</string>
<string>68.64655</string>
<string>58.8399</string>
<string>49.03325</string>
<string>39.2266</string>
<string>29.41995</string>
<string>19.6133</string>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>Title</key>
<string>Core</string>
<key>FooterText</key>
<string>Rate at which a new node is added to map.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Update Rate</string>
<key>Key</key>
<string>UpdateRate</string>
<key>DefaultValue</key>
<string>1</string>
<key>Titles</key>
<array>
<string>Max</string>
<string>5 Hz</string>
<string>4 Hz</string>
<string>3 Hz</string>
<string>2 Hz</string>
<string>1 Hz</string>
<string>0.5 Hz</string>
</array>
<key>Values</key>
<array>
<string>0</string>
<string>5</string>
<string>4</string>
<string>3</string>
<string>2</string>
<string>1</string>
<string>0.5</string>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Images taken when the camera is moving too fast are ignored to avoid blurry textures.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Maximum Motion Speed</string>
<key>Key</key>
<string>MaximumMotionSpeed</string>
<key>DefaultValue</key>
<string>0</string>
<key>Titles</key>
<array>
<string>No Limit</string>
<string>High</string>
<string>Medium</string>
<string>Low</string>
<string>Very Low</string>
</array>
<key>Values</key>
<array>
<string>0</string>
<string>0.4</string>
<string>0.3</string>
<string>0.2</string>
<string>0.1</string>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Maximum time allowed for map updates. If time to add a new node is above this theshold, some old parts of the map are temporarly forgotten to reduce time of next updates.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Time Limit</string>
<key>Key</key>
<string>TimeLimit</string>
<key>DefaultValue</key>
<string>0</string>
<key>Titles</key>
<array>
<string>No Limit</string>
<string>1500 ms</string>
<string>1400 ms</string>
<string>1300 ms</string>
<string>1200 ms</string>
<string>1100 ms</string>
<string>1000 ms</string>
<string>900 ms</string>
<string>800 ms</string>
<string>700 ms</string>
<string>600 ms</string>
<string>500 ms</string>
<string>400 ms</string>
</array>
<key>Values</key>
<array>
<string>0</string>
<string>1500</string>
<string>1400</string>
<string>1300</string>
<string>1200</string>
<string>1100</string>
<string>1000</string>
<string>900</string>
<string>800</string>
<string>700</string>
<string>600</string>
<string>500</string>
<string>400</string>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Maximum nodes kept in working memory.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Memory Limit</string>
<key>Key</key>
<string>MemoryLimit</string>
<key>DefaultValue</key>
<string>0</string>
<key>Titles</key>
<array>
<string>No Limit</string>
<string>500 nodes</string>
<string>400 nodes</string>
<string>300 nodes</string>
<string>200 nodes</string>
<string>100 nodes</string>
<string>50 nodes</string>
</array>
<key>Values</key>
<array>
<string>0</string>
<string>500</string>
<string>400</string>
<string>300</string>
<string>200</string>
<string>100</string>
<string>50</string>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Proximity detections are loop closures found by comparing current frame with frames inside a radius of the current pose. Unlike global loop closure detection, this approach is dependent of odometry.</string>
</dict>
<dict>
<key>Type</key>
<string>PSToggleSwitchSpecifier</string>
<key>Title</key>
<string>Proximity Detection</string>
<key>Key</key>
<string>ProximityDetection</string>
<key>DefaultValue</key>
<true/>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Threshold at which loop closure hypotheses are accepted. Higher means more robust to false loop closures while rejecting more good loop closures.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Loop Closure Threshold</string>
<key>Key</key>
<string>LoopClosureThreshold</string>
<key>DefaultValue</key>
<real>0.11</real>
<key>Titles</key>
<array>
<string>0.90</string>
<string>0.80</string>
<string>0.70</string>
<string>0.60</string>
<string>0.50</string>
<string>0.40</string>
<string>0.30</string>
<string>0.20</string>
<string>0.15</string>
<string>0.11</string>
<string>0.10</string>
</array>
<key>Values</key>
<array>
<real>0.9</real>
<real>0.8</real>
<real>0.7</real>
<real>0.6</real>
<real>0.5</real>
<real>0.4</real>
<real>0.3</real>
<real>0.2</real>
<real>0.15</real>
<real>0.11</real>
<real>0.1</real>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Threshold at which consecutive images are considered the same, so the corresponding node&apos;s weight is increased. The background turns dark blue when this happens.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Similarity Threshold</string>
<key>Key</key>
<string>SimilarityThreshold</string>
<key>DefaultValue</key>
<real>0.3</real>
<key>Titles</key>
<array>
<string>Disabled</string>
<string>0.60</string>
<string>0.50</string>
<string>0.40</string>
<string>0.30</string>
<string>0.20</string>
<string>0.10</string>
</array>
<key>Values</key>
<array>
<real>1</real>
<real>0.6</real>
<real>0.5</real>
<real>0.4</real>
<real>0.3</real>
<real>0.2</real>
<real>0.1</real>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Minimum visual inliers to accept a loop closure.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Min Inliers</string>
<key>Key</key>
<string>MinInliers</string>
<key>DefaultValue</key>
<string>25</string>
<key>Titles</key>
<array>
<string>35</string>
<string>30</string>
<string>25</string>
<string>20</string>
<string>15</string>
<string>10</string>
</array>
<key>Values</key>
<array>
<string>35</string>
<string>30</string>
<string>25</string>
<string>20</string>
<string>15</string>
<string>10</string>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Reject any loop closures causing error corrections in the map higher than this factor of the link&apos;s variance.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Max Optimization Error</string>
<key>Key</key>
<string>MaxOptimizationError</string>
<key>DefaultValue</key>
<integer>2</integer>
<key>Titles</key>
<array>
<string>4x</string>
<string>3.5x</string>
<string>3x</string>
<string>2.5x</string>
<string>2x</string>
<string>1.5x</string>
<string>1x</string>
<string>0.5x</string>
<string>Disabled</string>
</array>
<key>Values</key>
<array>
<real>4</real>
<real>3.5</real>
<real>3</real>
<real>2.5</real>
<real>2</real>
<real>1.5</real>
<real>1</real>
<real>0.5</real>
<real>0</real>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Extracting more features per image would result in better loop closure hypotheses but more processing time is required.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Max Features Extracted (Vocabulary)</string>
<key>Key</key>
<string>MaxFeaturesExtractedVocabulary</string>
<key>DefaultValue</key>
<string>400</string>
<key>Titles</key>
<array>
<string>No Limit</string>
<string>5000</string>
<string>4500</string>
<string>4000</string>
<string>3500</string>
<string>3000</string>
<string>2500</string>
<string>2000</string>
<string>1500</string>
<string>1000</string>
<string>900</string>
<string>800</string>
<string>700</string>
<string>600</string>
<string>500</string>
<string>400</string>
<string>300</string>
<string>200</string>
<string>100</string>
<string>Disabled</string>
</array>
<key>Values</key>
<array>
<string>0</string>
<string>5000</string>
<string>4500</string>
<string>4000</string>
<string>3500</string>
<string>3000</string>
<string>2500</string>
<string>2000</string>
<string>1500</string>
<string>1000</string>
<string>900</string>
<string>800</string>
<string>700</string>
<string>600</string>
<string>500</string>
<string>400</string>
<string>300</string>
<string>200</string>
<string>100</string>
<string>-1</string>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Extracting more features per image would result in better loop closure transforms but more processing time is required.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Max Features Extracted (Loop Closure)</string>
<key>Key</key>
<string>MaxFeaturesExtractedLoopClosure</string>
<key>DefaultValue</key>
<string>400</string>
<key>Titles</key>
<array>
<string>No Limit</string>
<string>5000</string>
<string>4500</string>
<string>4000</string>
<string>3500</string>
<string>3000</string>
<string>2500</string>
<string>2000</string>
<string>1500</string>
<string>1000</string>
<string>900</string>
<string>800</string>
<string>700</string>
<string>600</string>
<string>500</string>
<string>400</string>
<string>300</string>
<string>200</string>
<string>100</string>
</array>
<key>Values</key>
<array>
<string>0</string>
<string>5000</string>
<string>4500</string>
<string>4000</string>
<string>3500</string>
<string>3000</string>
<string>2500</string>
<string>2000</string>
<string>1500</string>
<string>1000</string>
<string>900</string>
<string>800</string>
<string>700</string>
<string>600</string>
<string>500</string>
<string>400</string>
<string>300</string>
<string>200</string>
<string>100</string>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>BRIEF, FREAK and ORB are binary features, which are fast to compute and use less memory. SURF and SIFT are high dimensional float descriptors (rotation/scale/shear-invariant), so they use more memory and CPU but they are significantly better to detect loop closures in large environments. Warning: Changing feature type will automatically reset the map!</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Feature Type</string>
<key>Key</key>
<string>FeatureType</string>
<key>DefaultValue</key>
<string>6</string>
<key>Titles</key>
<array>
<string>SURF</string>
<string>SIFT</string>
<string>GFTT-FREAK</string>
<string>GFTT-BRIEF</string>
<string>GFTT-ORB</string>
<string>ORB-OCTREE</string>
</array>
<key>Values</key>
<array>
<string>0</string>
<string>1</string>
<string>5</string>
<string>6</string>
<string>8</string>
<string>10</string>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Graph optimization approach.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Graph Optimizer</string>
<key>Key</key>
<string>GraphOptimizer</string>
<key>DefaultValue</key>
<string>2</string>
<key>Titles</key>
<array>
<string>GTSAM</string>
<string>g2o</string>
</array>
<key>Values</key>
<array>
<string>2</string>
<string>1</string>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>The map&apos;s graph is optimized from the last node. The map is moved when a loop closure happens instead of jumping the current pose back to localized area.</string>
</dict>
<dict>
<key>Type</key>
<string>PSToggleSwitchSpecifier</string>
<key>Title</key>
<string>Optimization from Graph End</string>
<key>Key</key>
<string>OptimizationfromGraphEnd</string>
<key>DefaultValue</key>
<true/>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Used only in localization mode (when clicking First-P. View during visualization). This is used to get smoother localizations and to verify localization transforms (when Max Optimization Error is not disabled) to make sure we don&apos;t teleport to a location very similar to one we previously localized on.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Maximum odometry cache size</string>
<key>Key</key>
<string>MaximumOdometryCacheSize</string>
<key>DefaultValue</key>
<string>10</string>
<key>Titles</key>
<array>
<string>500</string>
<string>200</string>
<string>100</string>
<string>75</string>
<string>50</string>
<string>40</string>
<string>30</string>
<string>20</string>
<string>10</string>
<string>5</string>
<string>Disabled</string>
</array>
<key>Values</key>
<array>
<string>500</string>
<string>200</string>
<string>100</string>
<string>75</string>
<string>50</string>
<string>40</string>
<string>30</string>
<string>20</string>
<string>10</string>
<string>5</string>
<string>0</string>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>ArUco or AprilTag markers can be detected for localization and graph optimization. Marker number should be &gt;0.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>ArUco/AprilTag Marker Detection</string>
<key>Key</key>
<string>ArUcoMarkerDetection</string>
<key>DefaultValue</key>
<integer>-1</integer>
<key>Titles</key>
<array>
<string>Disabled</string>
<string>4X4_50</string>
<string>4X4_100</string>
<string>4X4_250</string>
<string>4X4_1000</string>
<string>5X5_50</string>
<string>5X5_100</string>
<string>5X5_250</string>
<string>5X5_1000</string>
<string>6X6_50</string>
<string>6X6_100</string>
<string>6X6_250</string>
<string>6X6_1000</string>
<string>7X7_50</string>
<string>7X7_100</string>
<string>7X7_250</string>
<string>7X7_1000</string>
<string>ARUCO_ORIGINAL</string>
<string>APRILTAG_16h5</string>
<string>APRILTAG_25h9</string>
<string>APRILTAG_36h10</string>
<string>APRILTAG_36h11</string>
</array>
<key>Values</key>
<array>
<integer>-1</integer>
<integer>0</integer>
<integer>1</integer>
<integer>2</integer>
<integer>3</integer>
<integer>4</integer>
<integer>5</integer>
<integer>6</integer>
<integer>7</integer>
<integer>8</integer>
<integer>9</integer>
<integer>10</integer>
<integer>11</integer>
<integer>12</integer>
<integer>13</integer>
<integer>14</integer>
<integer>15</integer>
<integer>16</integer>
<integer>17</integer>
<integer>18</integer>
<integer>19</integer>
<integer>20</integer>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Size of markers are automatically initialized on the first marker seen. All markers should have the same size. This value is the maximum depth error to do the initialization to get accurate size of the tag. The lower it is, the more perpendicular the camera should be from the marker to do initialization, but size estimated would be more accurate.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Marker Depth Error Estimation</string>
<key>Key</key>
<string>MarkerDepthErrorEstimation</string>
<key>DefaultValue</key>
<real>0.04</real>
<key>Titles</key>
<array>
<string>1 cm</string>
<string>2 cm</string>
<string>3 cm</string>
<string>4 cm</string>
<string>5 cm</string>
<string>6 cm</string>
<string>7 cm</string>
<string>8 cm</string>
<string>9 cm</string>
<string>10 cm</string>
<string>15 cm</string>
<string>20 cm</string>
<string>30 cm</string>
<string>40 cm</string>
<string>50 cm</string>
<string>100 cm</string>
</array>
<key>Values</key>
<array>
<real>0.01</real>
<real>0.02</real>
<real>0.03</real>
<real>0.04</real>
<real>0.05</real>
<real>0.06</real>
<real>0.07000000000000001</real>
<real>0.08</real>
<real>0.09</real>
<real>0.1</real>
<real>0.15</real>
<real>0.2</real>
<real>0.3</real>
<real>0.4</real>
<real>0.5</real>
<real>1</real>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>If marker size is 0, marker size is estimated using depth camera on first detection, then the same size is assumed for next detections, thus all markers should have the same size (markers could then be detected farther from the camera). When the marker size is set &gt;0, all markers are estimated with this parameter (this can be useful on devices without depth camera). Finally, if marker size is &lt;0, the size of each marker is estimated the first time they are detected using the depth camera (thus markers can have different size). Note that if the marker is already in the database with a known size, the size contained in the database is used directly.</string>
</dict>
<dict>
<key>Type</key>
<string>PSTextFieldSpecifier</string>
<key>Title</key>
<string>Marker Size (cm)</string>
<key>Key</key>
<string>MarkerSize</string>
<key>DefaultValue</key>
<string>-1</string>
<key>KeyboardType</key>
<string>NumberPad</string>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Maximum range at which the markers are detected. Long range increases the estimated orientation error of the tag, which can then cause bad graph optimization. Using larger tags can improve orientation estimation at longer range.</string>
</dict>
<dict>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Title</key>
<string>Marker Maximum Range</string>
<key>Key</key>
<string>MarkerMaxRange</string>
<key>DefaultValue</key>
<real>2</real>
<key>Titles</key>
<array>
<string>No Limit</string>
<string>0.5 m</string>
<string>1 m</string>
<string>2 m</string>
<string>3 m</string>
<string>4 m</string>
<string>5 m</string>
<string>6 m</string>
<string>7 m</string>
<string>8 m</string>
<string>9 m</string>
<string>10 m</string>
<string>15 m</string>
<string>20 m</string>
</array>
<key>Values</key>
<array>
<string>0</string>
<real>0.5</real>
<real>1</real>
<real>2</real>
<real>3</real>
<real>4</real>
<real>5</real>
<real>6</real>
<real>7</real>
<real>8</real>
<real>9</real>
<integer>10</integer>
<real>15</real>
<real>20</real>
</array>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>Title</key>
<string>Database</string>
<key>FooterText</key>
<string>Discarded frames while not moving are still saved in database. Useful to replay exactly the scanning on RTAB-Map Desktop.</string>
</dict>
<dict>
<key>Type</key>
<string>PSToggleSwitchSpecifier</string>
<key>Title</key>
<string>Save All Frames in Database</string>
<key>Key</key>
<string>SaveAllFramesInDatabase</string>
<key>DefaultValue</key>
<true/>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>Save GPS to database.</string>
</dict>
<dict>
<key>Type</key>
<string>PSToggleSwitchSpecifier</string>
<key>Title</key>
<string>Save GPS</string>
<key>Key</key>
<string>SaveGPS</string>
<key>DefaultValue</key>
<false/>
</dict>
<dict>
<key>Type</key>
<string>PSGroupSpecifier</string>
<key>FooterText</key>
<string>The database is kept in RAM for fast access. Set to false to reduce RAM used at the cost of slower access. This parameter is applied on reset or when a database is opened. Important: if enabled, the database cannot be recovered in case of the App crashes for some reason (e.g., low battery).</string>
</dict>
<dict>
<key>Type</key>
<string>PSToggleSwitchSpecifier</string>
<key>Title</key>
<string>Database in Memory</string>
<key>Key</key>
<string>DatabaseInMemory</string>
<key>DefaultValue</key>
<false/>
</dict>
</array>
</dict>
</plist>
rtabmap/app/ios/Settings.bundle/Root.plist
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
<plist version="1.0">
<dict>
<key>PreferenceSpecifiers</key>
<array>
<dict>
<key>FooterText</key>
<string>Decrease density to reduce rendering time and memory. Points over the maximum depth or under minimum depth are not rendered. In all cases, the raw data is still saved in the db file, meaning that the the point cloud can be regenerated differently by changing these settings and by re-opening the scan in the Library.</string>
<key>Title</key>
<string>Rendering</string>
<key>Type</key>
<string>PSGroupSpecifier</string>
</dict>
<dict>
<key>DefaultValue</key>
<integer>1</integer>
<key>Key</key>
<string>PointCloudDensity</string>
<key>Title</key>
<string>Point Cloud Density</string>
<key>Titles</key>
<array>
<string>Maximum</string>
<string>High</string>
<string>Low</string>
<string>Very Low</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<integer>0</integer>
<integer>1</integer>
<integer>2</integer>
<integer>3</integer>
</array>
</dict>
<dict>
<key>DefaultValue</key>
<integer>3</integer>
<key>Key</key>
<string>MaxDepth</string>
<key>Title</key>
<string>Max Depth</string>
<key>Titles</key>
<array>
<string>No Limit</string>
<string>5 m</string>
<string>4.5 m</string>
<string>4 m</string>
<string>3.5 m</string>
<string>3 m</string>
<string>2.5 m</string>
<string>2 m</string>
<string>1.5 m</string>
<string>1 m</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<real>0.0</real>
<real>5</real>
<real>4.5</real>
<real>4</real>
<real>3.5</real>
<real>3</real>
<real>2.5</real>
<real>2</real>
<real>1.5</real>
<real>1</real>
</array>
</dict>
<dict>
<key>DefaultValue</key>
<real>0.0</real>
<key>Key</key>
<string>MinDepth</string>
<key>Title</key>
<string>Min Depth</string>
<key>Titles</key>
<array>
<string>0 m</string>
<string>0.3 m</string>
<string>0.5 m</string>
<string>0.75 m</string>
<string>1 m</string>
<string>1.5 m</string>
<string>2 m</string>
<string>2.5 m</string>
<string>3 m</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<real>0.0</real>
<real>0.29999999999999999</real>
<real>0.5</real>
<real>0.75</real>
<real>1</real>
<real>1.5</real>
<real>2</real>
<real>2.5</real>
<real>3</real>
</array>
</dict>
<dict>
<key>FooterText</key>
<string>Increase minimum polygon angle to force scanning perpendicular to surfaces. Set a decimation factor to reduce the number of polygons. The higher the factor, the less polygons will remain. Note that the decimation factor is done after decreasing point cloud density. Decimation factor and texture resolution don't affect post-processing.</string>
<key>Type</key>
<string>PSGroupSpecifier</string>
</dict>
<dict>
<key>DefaultValue</key>
<integer>20</integer>
<key>Key</key>
<string>MeshAngleTolerance</string>
<key>Title</key>
<string>Mesh Angle Tolerance (deg)</string>
<key>Titles</key>
<array>
<string>60</string>
<string>45</string>
<string>35</string>
<string>30</string>
<string>25</string>
<string>20</string>
<string>15</string>
<string>10</string>
<string>5</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<integer>60</integer>
<integer>45</integer>
<integer>35</integer>
<integer>30</integer>
<integer>25</integer>
<integer>20</integer>
<integer>15</integer>
<integer>10</integer>
<integer>5</integer>
</array>
</dict>
<dict>
<key>DefaultValue</key>
<integer>2</integer>
<key>Key</key>
<string>MeshTriangleSize</string>
<key>Title</key>
<string>Mesh Triangle Size</string>
<key>Titles</key>
<array>
<string>6 pix</string>
<string>5 pix</string>
<string>4 pix</string>
<string>3 pix</string>
<string>2 pix</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<integer>6</integer>
<integer>5</integer>
<integer>4</integer>
<integer>3</integer>
<integer>2</integer>
</array>
</dict>
<dict>
<key>DefaultValue</key>
<real>0.0</real>
<key>Key</key>
<string>MeshDecimationFactor</string>
<key>Title</key>
<string>Mesh Decimation Factor</string>
<key>Titles</key>
<array>
<string>99%</string>
<string>95%</string>
<string>90%</string>
<string>80%</string>
<string>70%</string>
<string>60%</string>
<string>50%</string>
<string>40%</string>
<string>30%</string>
<string>20%</string>
<string>10%</string>
<string>Disabled</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<real>0.98999999999999999</real>
<real>0.94999999999999996</real>
<real>0.90000000000000002</real>
<real>0.80000000000000004</real>
<real>0.69999999999999996</real>
<real>0.59999999999999998</real>
<real>0.5</real>
<real>0.40000000000000002</real>
<real>0.29999999999999999</real>
<real>0.20000000000000001</real>
<real>0.10000000000000001</real>
<real>0.0</real>
</array>
</dict>
<dict>
<key>DefaultValue</key>
<integer>4</integer>
<key>Key</key>
<string>TextureResolution</string>
<key>Title</key>
<string>Texture Resolution</string>
<key>Titles</key>
<array>
<string>Maximum</string>
<string>High</string>
<string>Low</string>
<string>Very Low</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<integer>1</integer>
<integer>2</integer>
<integer>4</integer>
<integer>8</integer>
</array>
</dict>
<dict>
<key>FooterText</key>
<string>Enable Blending to get smoother colors on overlapping surfaces. When Nodes Filetring is enabled, only the newest point clouds of loop closures are rendered.</string>
<key>Type</key>
<string>PSGroupSpecifier</string>
</dict>
<dict>
<key>DefaultValue</key>
<real>0.20000000000000001</real>
<key>Key</key>
<string>BackgroundColor</string>
<key>Title</key>
<string>Background Color</string>
<key>Titles</key>
<array>
<string>0.9</string>
<string>Light Gray</string>
<string>0.7</string>
<string>0.6</string>
<string>Gray</string>
<string>0.4</string>
<string>0.3</string>
<string>Dark Gray</string>
<string>0.1</string>
<string>Black</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<real>0.90000000000000002</real>
<real>0.80000000000000004</real>
<real>0.69999999999999996</real>
<real>0.59999999999999998</real>
<real>0.5</real>
<real>0.40000000000000002</real>
<real>0.29999999999999999</real>
<real>0.20000000000000001</real>
<real>0.10000000000000001</real>
<real>0.0</real>
</array>
</dict>
<dict>
<key>DefaultValue</key>
<integer>10</integer>
<key>Key</key>
<string>PointSize</string>
<key>Title</key>
<string>Point Size</string>
<key>Titles</key>
<array>
<string>50</string>
<string>30</string>
<string>25</string>
<string>15</string>
<string>10</string>
<string>5</string>
<string>1</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<integer>50</integer>
<integer>30</integer>
<integer>25</integer>
<integer>15</integer>
<integer>10</integer>
<integer>5</integer>
<integer>1</integer>
</array>
</dict>
<dict>
<key>DefaultValue</key>
<true/>
<key>Key</key>
<string>Blending</string>
<key>Title</key>
<string>Blending</string>
<key>Type</key>
<string>PSToggleSwitchSpecifier</string>
</dict>
<dict>
<key>DefaultValue</key>
<false/>
<key>Key</key>
<string>NodesFiltering</string>
<key>Title</key>
<string>Nodes Filtering</string>
<key>Type</key>
<string>PSToggleSwitchSpecifier</string>
</dict>
<dict>
<key>Title</key>
<string>General</string>
<key>Type</key>
<string>PSGroupSpecifier</string>
</dict>
<dict>
<key>File</key>
<string>Mapping</string>
<key>Title</key>
<string>Mapping...</string>
<key>Type</key>
<string>PSChildPaneSpecifier</string>
</dict>
<dict>
<key>File</key>
<string>Assembling</string>
<key>Title</key>
<string>Assembling...</string>
<key>Type</key>
<string>PSChildPaneSpecifier</string>
</dict>
<dict>
<key>FooterText</key>
<string>Color CorrectionRadius is used to find pixel correspondences for Adjust Colors optimization. Noise Filtering Ratio is used to remove polygon clusters smaller than this ratio of the largest cluster during Noise Filtering optimization.</string>
<key>Title</key>
<string>Optimization</string>
<key>Type</key>
<string>PSGroupSpecifier</string>
</dict>
<dict>
<key>DefaultValue</key>
<real>0.02</real>
<key>Key</key>
<string>ColorCorrectionRadius</string>
<key>Title</key>
<string>Color Correction Radius</string>
<key>Titles</key>
<array>
<string>30 cm</string>
<string>20 cm</string>
<string>10 cm</string>
<string>5 cm</string>
<string>2.5 cm</string>
<string>2 cm</string>
<string>1.5 cm</string>
<string>1 cm</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<real>0.29999999999999999</real>
<real>0.20000000000000001</real>
<real>0.10000000000000001</real>
<real>0.050000000000000003</real>
<real>0.025000000000000001</real>
<real>0.02</real>
<real>0.014999999999999999</real>
<real>0.01</real>
</array>
</dict>
<dict>
<key>DefaultValue</key>
<real>0.050000000000000003</real>
<key>Key</key>
<string>NoiseFilteringRatio</string>
<key>Title</key>
<string>Noise Filtering Ratio</string>
<key>Titles</key>
<array>
<string>Keep Largest Only</string>
<string>0.9</string>
<string>0.8</string>
<string>0.7</string>
<string>0.6</string>
<string>0.5</string>
<string>0.4</string>
<string>0.3</string>
<string>0.2</string>
<string>0.1</string>
<string>0.05</string>
<string>0.01</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<real>1</real>
<real>0.90000000000000002</real>
<real>0.80000000000000004</real>
<real>0.69999999999999996</real>
<real>0.59999999999999998</real>
<real>0.5</real>
<real>0.40000000000000002</real>
<real>0.29999999999999999</real>
<real>0.20000000000000001</real>
<real>0.10000000000000001</real>
<real>0.050000000000000003</real>
<real>0.01</real>
</array>
</dict>
<dict>
<key>Title</key>
<string>Measuring</string>
<key>Type</key>
<string>PSGroupSpecifier</string>
</dict>
<dict>
<key>DefaultValue</key>
<integer>0</integer>
<key>Key</key>
<string>MeasuringUnits</string>
<key>Title</key>
<string>System of Units</string>
<key>Titles</key>
<array>
<string>Metric</string>
<string>Imperial</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<integer>0</integer>
<integer>1</integer>
</array>
</dict>
<dict>
<key>DefaultValue</key>
<real>0.050000000000000003</real>
<key>Key</key>
<string>MeasuringTextSize</string>
<key>Title</key>
<string>Text Size</string>
<key>Titles</key>
<array>
<string>30 cm</string>
<string>25 cm</string>
<string>20 cm</string>
<string>15 cm</string>
<string>10 cm</string>
<string>5 cm</string>
</array>
<key>Type</key>
<string>PSMultiValueSpecifier</string>
<key>Values</key>
<array>
<real>0.29999999999999999</real>
<real>0.25</real>
<real>0.20000000000000001</real>
<real>0.14999999999999999</real>
<real>0.10000000000000001</real>
<real>0.050000000000000003</real>
</array>
</dict>
<dict>
<key>FooterText</key>
<string>Copyright (c) 2010-2024, Mathieu Labbe - IntRoLab - Université de Sherbrooke. All rights reserved.</string>
<key>Title</key>
<string>About</string>
<key>Type</key>
<string>PSGroupSpecifier</string>
</dict>
<dict>
<key>DefaultValue</key>
<string>0.22.0</string>
<key>Key</key>
<string>Version</string>
<key>Title</key>
<string>Version</string>
<key>Type</key>
<string>PSTitleValueSpecifier</string>
</dict>
<dict>
<key>File</key>
<string>License</string>
<key>Key</key>
<string></string>
<key>Title</key>
<string>License</string>
<key>Type</key>
<string>PSChildPaneSpecifier</string>
</dict>
</array>
<key>StringsTable</key>
<string>Root</string>
</dict>
</plist>
rtabmap/app/ios/Settings.bundle/en.lproj/Root.strings
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