StringsTable Mapping PreferenceSpecifiers Type PSGroupSpecifier FooterText When resuming mapping, wait for a relocalization on the current map before starting a new map. Type PSToggleSwitchSpecifier Title Append Mode Key AppendMode DefaultValue Type PSGroupSpecifier FooterText Save HD images of the color camera if you want very detailed textures. More memory will be required. Type PSToggleSwitchSpecifier Title HD Mode Key HDMode DefaultValue Type PSGroupSpecifier FooterText When this is disabled (or the phone doesn't have LiDAR), only tracked features from ARKit will be mapped into a point cloud. Type PSToggleSwitchSpecifier Title LiDAR Mode Key LidarMode DefaultValue Type PSGroupSpecifier FooterText 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. DefaultValue 2 Key DepthConfidence Title Depth Confidence Titles High Medium Low Type PSMultiValueSpecifier Values 2 1 0 Type PSGroupSpecifier FooterText Smooth the point clouds. Note that this can be changed in post-processing. Type PSToggleSwitchSpecifier Title Smoothing Key Smoothing DefaultValue Type PSGroupSpecifier FooterText Filter interpolated depth pixels between foreground and background objects. Note that values can be changed in post-processing. Type PSMultiValueSpecifier Title Depth Bleeding Filter Error Key DepthBleedingError DefaultValue 0 Titles Disabled 2.5 cm 5 cm 10 cm 15 cm 20 cm 25 cm 30 cm Values 0 0.025 0.05 0.10 0.15 0.20 0.25 0.30 Type PSGroupSpecifier FooterText Filter ARKit'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. Type PSMultiValueSpecifier Title ARKit Re-Localization Acceleration Threshold Key UpstreamRelocalizationFilteringAccThr DefaultValue 58.8399 Titles Disabled 10 g 9 g 8 g 7 g 6 g 5 g 4 g 3 g 2 g Values 0 98.0665 88.25985 78.4532 68.64655 58.8399 49.03325 39.2266 29.41995 19.6133 Type PSGroupSpecifier Title Core FooterText Rate at which a new node is added to map. Type PSMultiValueSpecifier Title Update Rate Key UpdateRate DefaultValue 1 Titles Max 5 Hz 4 Hz 3 Hz 2 Hz 1 Hz 0.5 Hz Values 0 5 4 3 2 1 0.5 Type PSGroupSpecifier FooterText Images taken when the camera is moving too fast are ignored to avoid blurry textures. Type PSMultiValueSpecifier Title Maximum Motion Speed Key MaximumMotionSpeed DefaultValue 0 Titles No Limit High Medium Low Very Low Values 0 0.4 0.3 0.2 0.1 Type PSGroupSpecifier FooterText 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. Type PSMultiValueSpecifier Title Time Limit Key TimeLimit DefaultValue 0 Titles No Limit 1500 ms 1400 ms 1300 ms 1200 ms 1100 ms 1000 ms 900 ms 800 ms 700 ms 600 ms 500 ms 400 ms Values 0 1500 1400 1300 1200 1100 1000 900 800 700 600 500 400 Type PSGroupSpecifier FooterText Maximum nodes kept in working memory. Type PSMultiValueSpecifier Title Memory Limit Key MemoryLimit DefaultValue 0 Titles No Limit 500 nodes 400 nodes 300 nodes 200 nodes 100 nodes 50 nodes Values 0 500 400 300 200 100 50 Type PSGroupSpecifier FooterText 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. Type PSToggleSwitchSpecifier Title Proximity Detection Key ProximityDetection DefaultValue Type PSGroupSpecifier FooterText Threshold at which loop closure hypotheses are accepted. Higher means more robust to false loop closures while rejecting more good loop closures. Type PSMultiValueSpecifier Title Loop Closure Threshold Key LoopClosureThreshold DefaultValue 0.11 Titles 0.90 0.80 0.70 0.60 0.50 0.40 0.30 0.20 0.15 0.11 0.10 Values 0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.15 0.11 0.1 Type PSGroupSpecifier FooterText Threshold at which consecutive images are considered the same, so the corresponding node's weight is increased. The background turns dark blue when this happens. Type PSMultiValueSpecifier Title Similarity Threshold Key SimilarityThreshold DefaultValue 0.3 Titles Disabled 0.60 0.50 0.40 0.30 0.20 0.10 Values 1 0.6 0.5 0.4 0.3 0.2 0.1 Type PSGroupSpecifier FooterText Minimum visual inliers to accept a loop closure. Type PSMultiValueSpecifier Title Min Inliers Key MinInliers DefaultValue 25 Titles 35 30 25 20 15 10 Values 35 30 25 20 15 10 Type PSGroupSpecifier FooterText Reject any loop closures causing error corrections in the map higher than this factor of the link's variance. Type PSMultiValueSpecifier Title Max Optimization Error Key MaxOptimizationError DefaultValue 2 Titles 4x 3.5x 3x 2.5x 2x 1.5x 1x 0.5x Disabled Values 4 3.5 3 2.5 2 1.5 1 0.5 0 Type PSGroupSpecifier FooterText Extracting more features per image would result in better loop closure hypotheses but more processing time is required. Type PSMultiValueSpecifier Title Max Features Extracted (Vocabulary) Key MaxFeaturesExtractedVocabulary DefaultValue 400 Titles No Limit 5000 4500 4000 3500 3000 2500 2000 1500 1000 900 800 700 600 500 400 300 200 100 Disabled Values 0 5000 4500 4000 3500 3000 2500 2000 1500 1000 900 800 700 600 500 400 300 200 100 -1 Type PSGroupSpecifier FooterText Extracting more features per image would result in better loop closure transforms but more processing time is required. Type PSMultiValueSpecifier Title Max Features Extracted (Loop Closure) Key MaxFeaturesExtractedLoopClosure DefaultValue 400 Titles No Limit 5000 4500 4000 3500 3000 2500 2000 1500 1000 900 800 700 600 500 400 300 200 100 Values 0 5000 4500 4000 3500 3000 2500 2000 1500 1000 900 800 700 600 500 400 300 200 100 Type PSGroupSpecifier FooterText 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! Type PSMultiValueSpecifier Title Feature Type Key FeatureType DefaultValue 6 Titles SURF SIFT GFTT-FREAK GFTT-BRIEF GFTT-ORB ORB-OCTREE Values 0 1 5 6 8 10 Type PSGroupSpecifier FooterText Graph optimization approach. Type PSMultiValueSpecifier Title Graph Optimizer Key GraphOptimizer DefaultValue 2 Titles GTSAM g2o Values 2 1 Type PSGroupSpecifier FooterText The map'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. Type PSToggleSwitchSpecifier Title Optimization from Graph End Key OptimizationfromGraphEnd DefaultValue Type PSGroupSpecifier FooterText 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't teleport to a location very similar to one we previously localized on. Type PSMultiValueSpecifier Title Maximum odometry cache size Key MaximumOdometryCacheSize DefaultValue 10 Titles 500 200 100 75 50 40 30 20 10 5 Disabled Values 500 200 100 75 50 40 30 20 10 5 0 Type PSGroupSpecifier FooterText ArUco or AprilTag markers can be detected for localization and graph optimization. Marker number should be >0. Type PSMultiValueSpecifier Title ArUco/AprilTag Marker Detection Key ArUcoMarkerDetection DefaultValue -1 Titles Disabled 4X4_50 4X4_100 4X4_250 4X4_1000 5X5_50 5X5_100 5X5_250 5X5_1000 6X6_50 6X6_100 6X6_250 6X6_1000 7X7_50 7X7_100 7X7_250 7X7_1000 ARUCO_ORIGINAL APRILTAG_16h5 APRILTAG_25h9 APRILTAG_36h10 APRILTAG_36h11 Values -1 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Type PSGroupSpecifier FooterText 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. Type PSMultiValueSpecifier Title Marker Depth Error Estimation Key MarkerDepthErrorEstimation DefaultValue 0.04 Titles 1 cm 2 cm 3 cm 4 cm 5 cm 6 cm 7 cm 8 cm 9 cm 10 cm 15 cm 20 cm 30 cm 40 cm 50 cm 100 cm Values 0.01 0.02 0.03 0.04 0.05 0.06 0.07000000000000001 0.08 0.09 0.1 0.15 0.2 0.3 0.4 0.5 1 Type PSGroupSpecifier FooterText 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 >0, all markers are estimated with this parameter (this can be useful on devices without depth camera). Finally, if marker size is <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. Type PSTextFieldSpecifier Title Marker Size (cm) Key MarkerSize DefaultValue -1 KeyboardType NumberPad Type PSGroupSpecifier FooterText 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. Type PSMultiValueSpecifier Title Marker Maximum Range Key MarkerMaxRange DefaultValue 2 Titles No Limit 0.5 m 1 m 2 m 3 m 4 m 5 m 6 m 7 m 8 m 9 m 10 m 15 m 20 m Values 0 0.5 1 2 3 4 5 6 7 8 9 10 15 20 Type PSGroupSpecifier Title Database FooterText Discarded frames while not moving are still saved in database. Useful to replay exactly the scanning on RTAB-Map Desktop. Type PSToggleSwitchSpecifier Title Save All Frames in Database Key SaveAllFramesInDatabase DefaultValue Type PSGroupSpecifier FooterText Save GPS to database. Type PSToggleSwitchSpecifier Title Save GPS Key SaveGPS DefaultValue Type PSGroupSpecifier FooterText 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). Type PSToggleSwitchSpecifier Title Database in Memory Key DatabaseInMemory DefaultValue