RTAB vs Lightgate

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.

Spread kindness and positivity with the Lightgate App! Join a global community sending uplifting messages to celebrate milestones, support healing, and inspire others. Whether it’s for a single event or a long-term journey, Lightgate helps you connect and uplift lives. Participating in kindness campaigns can boost your happiness and overall well-being. Key Features: Set Reminders to Send Messages of Kindness Choose from these Vibe Type categories: • Appreciation/Gratitude • Best Wishes • Blessings/Prayers • Condolences • Congratulatory/Celebratory • Healing • Peace • Positive Energy • Other Examples of Campaigns That Can Transform Lives: • Organize a group to send daily healing energy to someone recovering from a major surgery over several months, such as a lumbar spinal fusion. • Schedule weekly positive vibes for a friend undergoing chemotherapy during their entire treatment plan. • Cheer on a sports team by sending encouraging messages before every game in a season. • Uplift a loved one pursuing a long-term goal, like studying for a professional certification or training for a marathon. • Support someone grieving a loss by sending regular messages of comfort and strength over weeks or months. • Create a campaign to send continuous positive energy to a family rebuilding their lives after a natural disaster. • Collaborate with a group to focus on protecting an endangered animal species by collectively sending love and support over an extended period. • Regularly encourage a colleague who has taken on a demanding new role at work, helping them stay motivated. • Follow a campaign to support someone moving through a long recovery, such as healing after a serious injury or adjusting to life with a chronic condition. Campaign Highlights: • Upload images and videos to tell the story of the journey. • Campaigns can be public or private for greater flexibility. • Run campaigns for up to 1 year and schedule them up to 6 months in advance. • Stay updated with campaign progress through creator updates, and celebrate success with final testimonials. Why Choose Lightgate? Participating in campaigns, whether actively or as an observer, can release feel-good chemicals in your body, boosting your happiness, health, and connection to others. Unlike other platforms, Lightgate encourages consistent, meaningful engagement for short-term events or ongoing support. With Lightgate, sending positive vibes is not just about helping others—it’s a journey toward greater personal fulfillment and unity. A Humanity that Vibes Together, Thrives Together. Download Lightgate and start vibing today! Free Plan:
 - Create a 2-week campaign with 5 photos, 1 active campaign, and 30 free GIFs to share your vibe. Subscription Plans: 
- Basic Plan - $7.49/month & $74.99/year (Cancel anytime) - Premium Plus - $11.99/month & $104.99/year (Cancel anytime) - Pro Plan -$19.49/month & $149.99/year (Cancel anytime)
 What is included: - Unlock the ability to run campaigns for longer periods, giving you more time to connect and engage with your audience.
 - Depending on your plan, upload up to 5 to 32 photos and videos to enrich your campaigns with high-quality content. 
- Depending on your plan, upload up to 5 to 32 photos and videos to enrich your campaigns with high-quality content.
 - Access an expanded collection of premium GIFs to express and share your vibes more creatively.
 You'll be charged to your Apple account upon purchase. Subscriptions auto-renew unless canceled 24 hours before the next cycle. Manage in Account Settings. Access ends after cancellation but is restored upon renewal. In-app Purchase:
-  Boost your campaign to reach more engaged users, share your vibe, and connect with a wider audience. Terms of Use - https://api.lightgate.org/terms-and-conditions - https://www.apple.com/legal/internet-services/itunes/dev/stdeula/ Privacy Policy - https://api.lightgate.org/privacy-policy