m5p3nc3r/agv_pro_ros2
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

feat(slam): add rtabmap_ros

Browse Source
This commit is contained in:
X-lanni
2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
rtabmap/app/ios/Settings.bundle/Assembling.plist
+407
View File
@@ -0,0 +1,407 @@
<?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>