RTAB vs FrontDepth View

RTAB-Map (Real-Time Appearance-Based Mapping) is an Open Source LiDAR / RGB-D / Stereo Graph-Based SLAM (Simultaneous Localization and Mapping) approach based on an online incremental appearance-based loop closure detector. The loop closure detector uses a bag-of-words approach to determinate how likely a new image comes from a previous location or a new location. When a loop closure hypothesis is accepted, a new constraint is added to the map's graph, then a graph optimizer minimizes the errors in the map in real-time. An optional memory management approach can be used to limit the number of locations used for loop closure detection and graph optimization, so that real-time constraints on large-scale environnements are always respected. ARKit's visual inertial odometry (VIO) is used as the SLAM front-end for RTAB-Map (the SLAM back-end). * Note that unlike other scanning apps that optimize the map only after mapping, with RTAB-Map you get loop closure detection and map optimization online so you can have a live feedback to know when you have enough constraints in the map for good global optimization before stopping the scan. *** 3D reconstruction available only with LiDAR sensor. Features: * Online 3D scanning/mapping of the environment. * Online loop closure detection and map correction. * Save in DB format (RTAB-Map desktop and rtabmap_ros format). * Export in PLY, LAS or OBJ. * Multi-session mapping (save and continue later). * Use Apriltags to help finding loop closures in textureless environments. * Mixed AR/VR First-Person in visualization mode. * Raw ARKit data recording (up to 60 Hz!), useful to record long sessions without comprising battery life.

FrontDepth View provides real-time visualization of both TrueDepth camera data and front camera imagery. You can switch between the front camera view, the TrueDepth depth view, or a combined mode that merges both sources to enhance environmental awareness and depth perception. * FrontDepth modes (Options 3 and 4) are particularly effective in low-light or dark environments, helping to reveal surrounding structures and spatial depth. The visible depth range can be adjusted using the slider at the bottom of the screen. * Combined modes (Options 2 and 4) blend front camera imagery with TrueDepth data to enhance object contours and improve depth detail. * In Combined mode, tap the subview to enlarge it for a closer inspection. Tap again to return to the split or combined layout. * 3D Point Cloud View allows you to freely explore your surroundings in an interactive 3D perspective by panning the screen. * The center-point depth is displayed in real time in centimeters. You can capture screenshots at any time by tapping the camera icon, and view your saved images by tapping the photo gallery icon. If you want to view back depth image through LiDAR and back camera, please check our app "LiDAR View". If you want to automatically measure facial features in real time using the TrueDepth camera, please check our app “Measure Face”. If you have any suggestions, feedback, or feature requests, feel free to contact us at hereyouare1981@gmail.com Thank you for using FrontDepth View!