iOS: RTABMap along Apple RoomPlan about rtabmap HOT 2 OPEN

Hi,

You should have access already to odometry with Apple Room Plan. For loop closures, not sure what they do. The RTAB-Map iOS app was not meant to be a framework, just an App. The RTAB-Map library under the hood could be integrated in other apps though. If you don't care about online mesh/point cloud rendering, you may be able to create a Rtabmap object on c++ side, init with an empty database (and Kp/MaxFeatures=-1 parameter to disable feature extraction) and call rtabmap.process(SensorData(...)) with data coming from ARKit (maybe changing this line to rtabmap.process(data, pose) instead). That would be the minimal CPU required to save data in format that rtabmap can easily reprocess offline (with rtabmap-reprocess and rtabmap-export CLI tools).

cheers,
Mathieu

from rtabmap.

Great, thank you for your prompt answer! I'll have a go at it this week

from rtabmap.