diff --git a/app/ios/RTABMapApp.xcodeproj/project.pbxproj b/app/ios/RTABMapApp.xcodeproj/project.pbxproj
index 5a482d78..e2406206 100644
--- a/app/ios/RTABMapApp.xcodeproj/project.pbxproj
+++ b/app/ios/RTABMapApp.xcodeproj/project.pbxproj
@@ -791,7 +791,7 @@
);
runOnlyForDeploymentPostprocessing = 0;
shellPath = /bin/sh;
- shellScript = "# Type a script or drag a script file from your workspace to insert its path.\nversion=\"$MARKETING_VERSION\"\n/usr/libexec/PlistBuddy -c \"Set PreferenceSpecifiers:22:DefaultValue $version\" \"${SRCROOT}/Settings.bundle/Root.plist\"\n";
+ shellScript = "# Type a script or drag a script file from your workspace to insert its path.\nversion=\"$MARKETING_VERSION\"\n/usr/libexec/PlistBuddy -c \"Set PreferenceSpecifiers:21:DefaultValue $version\" \"${SRCROOT}/Settings.bundle/Root.plist\"\n";
};
/* End PBXShellScriptBuildPhase section */
@@ -1013,7 +1013,7 @@
"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
);
- MARKETING_VERSION = 0.21.7;
+ MARKETING_VERSION = 0.21.8;
OTHER_CFLAGS = "";
PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
PRODUCT_NAME = "$(TARGET_NAME)";
@@ -1070,7 +1070,7 @@
"$(PROJECT_DIR)/RTABMapApp/Libraries/lib",
"$(PROJECT_DIR)/RTABMapApp/Libraries/share/OpenCV/3rdparty/lib",
);
- MARKETING_VERSION = 0.21.7;
+ MARKETING_VERSION = 0.21.8;
ONLY_ACTIVE_ARCH = YES;
OTHER_CFLAGS = "";
PRODUCT_BUNDLE_IDENTIFIER = com.introlab.rtabmap;
diff --git a/app/ios/Settings.bundle/Mapping.plist b/app/ios/Settings.bundle/Mapping.plist
index 9891b1cb..2a4fefcb 100644
--- a/app/ios/Settings.bundle/Mapping.plist
+++ b/app/ios/Settings.bundle/Mapping.plist
@@ -54,6 +54,34 @@
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). Important: the points with too low confidence are not saved in the db file, so we cannot recover or filter these points in post-processing.
+
+
+ DefaultValue
+ 2
+ Key
+ DepthConfidence
+ Title
+ Depth Confidence
+ Titles
+
+ High
+ Medium
+ Low
+
+ Type
+ PSMultiValueSpecifier
+ Values
+
+ 2
+ 1
+ 0
+
+
Type
PSGroupSpecifier
@@ -74,7 +102,7 @@
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.
+ 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
@@ -642,13 +670,13 @@
Type
PSGroupSpecifier
FooterText
- ArUco markers can be detected for localization and graph optimization.
+ ArUco or AprilTag markers can be detected for localization and graph optimization. Marker number should be >0.
Type
PSMultiValueSpecifier
Title
- ArUco Marker Detection
+ ArUco/AprilTag Marker Detection
Key
ArUcoMarkerDetection
DefaultValue
@@ -814,7 +842,7 @@
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.
+ 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
diff --git a/app/ios/Settings.bundle/Root.plist b/app/ios/Settings.bundle/Root.plist
index d7c4c48a..9087e226 100644
--- a/app/ios/Settings.bundle/Root.plist
+++ b/app/ios/Settings.bundle/Root.plist
@@ -6,7 +6,7 @@
FooterText
- Decrease density to reduce rendering time and memory. Tip: To apply a different density to current map: save the map, change density and re-open the same map to regenerate the point clouds at this density. Points over the maximum depth, under minimum depth or under the depth confidence are not rendered.
+ Decrease density to reduce rendering time and memory. Points over the maximum depth or under minimum depth are not rendered. In all cases, the raw data is still saved in the db file, meaning that the the point cloud can be regenerated differently by changing these settings and by re-opening the scan in the Library.
Title
Rendering
Type
@@ -60,7 +60,7 @@
PSMultiValueSpecifier
Values
- 0
+ 0.0
5
4.5
4
@@ -74,7 +74,7 @@
DefaultValue
- 0
+ 0.0
Key
MinDepth
Title
@@ -95,8 +95,8 @@
PSMultiValueSpecifier
Values
- 0
- 0.3
+ 0.0
+ 0.29999999999999999
0.5
0.75
1
@@ -106,31 +106,9 @@
3
-
- DefaultValue
- 2
- Key
- DepthConfidence
- Title
- Depth Confidence
- Titles
-
- High
- Medium
- Low
-
- Type
- PSMultiValueSpecifier
- Values
-
- 2
- 1
- 0
-
-
FooterText
- Increase minimum polygon angle to force scanning perpendicular to surfaces. Set a decimation factor to reduce the number of polygons. The higher the factor, the less polygons will remain. Note that the decimation factor is done after decreasing point cloud density. Decimation factor and texture resolution don't affect post-processing.
+ Increase minimum polygon angle to force scanning perpendicular to surfaces. Set a decimation factor to reduce the number of polygons. The higher the factor, the less polygons will remain. Note that the decimation factor is done after decreasing point cloud density. Decimation factor and texture resolution don't affect post-processing.
Type
PSGroupSpecifier
@@ -196,7 +174,7 @@
DefaultValue
- 0
+ 0.0
Key
MeshDecimationFactor
Title
@@ -220,18 +198,18 @@
PSMultiValueSpecifier
Values
- 0.99
- 0.95
- 0.9
- 0.8
- 0.7
- 0.6
+ 0.98999999999999999
+ 0.94999999999999996
+ 0.90000000000000002
+ 0.80000000000000004
+ 0.69999999999999996
+ 0.59999999999999998
0.5
- 0.4
- 0.3
- 0.2
- 0.1
- 0
+ 0.40000000000000002
+ 0.29999999999999999
+ 0.20000000000000001
+ 0.10000000000000001
+ 0.0
@@ -266,7 +244,7 @@
DefaultValue
- 0.2
+ 0.20000000000000001
Key
BackgroundColor
Title
@@ -288,16 +266,16 @@
PSMultiValueSpecifier
Values
- 0.9
- 0.8
- 0.7
- 0.6
+ 0.90000000000000002
+ 0.80000000000000004
+ 0.69999999999999996
+ 0.59999999999999998
0.5
- 0.4
- 0.3
- 0.2
- 0.1
- 0
+ 0.40000000000000002
+ 0.29999999999999999
+ 0.20000000000000001
+ 0.10000000000000001
+ 0.0
@@ -402,19 +380,19 @@
PSMultiValueSpecifier
Values
- 0.3
- 0.2
- 0.1
- 0.05
- 0.025
+ 0.29999999999999999
+ 0.20000000000000001
+ 0.10000000000000001
+ 0.050000000000000003
+ 0.025000000000000001
0.02
- 0.015
+ 0.014999999999999999
0.01
DefaultValue
- 0.05
+ 0.050000000000000003
Key
NoiseFilteringRatio
Title
@@ -439,16 +417,16 @@
Values
1
- 0.9
- 0.8
- 0.7
- 0.6
+ 0.90000000000000002
+ 0.80000000000000004
+ 0.69999999999999996
+ 0.59999999999999998
0.5
- 0.4
- 0.3
- 0.2
- 0.1
- 0.05
+ 0.40000000000000002
+ 0.29999999999999999
+ 0.20000000000000001
+ 0.10000000000000001
+ 0.050000000000000003
0.01
@@ -462,7 +440,7 @@
DefaultValue
- 0.21.7
+ 0.21.8
Key
Version
Title