RTAB vs LiDAR 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.

LiDAR View provides real-time visualization of both LiDAR depth data and camera imagery. You can choose to display the camera view, the LiDAR view, or a combined view that merges both sources for enhanced environmental awareness and depth perception. * LiDAR modes (Options 3 and 4) are especially effective in low-light or dark environments, helping reveal surrounding structures and spatial depth. The visible range can be adjusted using the slider at the bottom of the screen. * Combined modes (Options 2 and 4) blend camera and LiDAR data to enhance object contours and depth details. * In Combined modes, tap the subview to enlarge it for a more detailed inspection. Tap the enlarged view again to return to the combined layout. * The center-point depth is displayed in real time in centimeters. You can capture screenshots at any time by tapping the camera icon, and browse saved images through the photo icon. The built-in flashlight can be enabled using the torch icon. Swipe left on the number icon to access two additional viewing modes: * 3D Point Cloud View — Freely explore the surrounding environment in an interactive 3D perspective by panning the screen. * Stereo View — Experience immersive real-time stereo visualization using Google Cardboard or a compatible VR headset. If you want to view front depth image through TrueDepth camera and front camera, please check our app "FrontDepth View". If you have any suggestions, feedback, or feature requests, feel free to contact us at hereyouare1981@gmail.com Thank you for using LiDAR View!