mirror of
https://github.com/introlab/rtabmap.git
synced 2026-09-03 01:50:24 +08:00
595f200a89
* Added Data Recording Mode. Added option to filter ARKit localization jumps. * Implemented max acc relocalization filtering (working on iOS) * Fixed android build, added re-localization max acceleration parameter * ARCore Java: Fixed pose of depth not available at stamp requested * Android log fix * Added libLAS support * ios: added LAS support * updated dep install script to skip libraries already installed * CameraMobile: Fixed origin not updated if updateOnRender() is used * Default max opt error increased to 2x to reduce number of loop closures rejected. OptimizerGTSAM: updated gravity noise model to use same sigma for both parameters. * Updated license * bump 0.21.7 * updated license date
378 lines
9.3 KiB
Plaintext
378 lines
9.3 KiB
Plaintext
<?xml version="1.0" encoding="UTF-8"?>
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<!DOCTYPE plist PUBLIC "-//Apple//DTD PLIST 1.0//EN" "http://www.apple.com/DTDs/PropertyList-1.0.dtd">
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<plist version="1.0">
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<dict>
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<key>StringsTable</key>
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<string>Assembling</string>
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<key>PreferenceSpecifiers</key>
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<array>
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<dict>
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<key>Type</key>
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<string>PSGroupSpecifier</string>
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<key>FooterText</key>
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<string>If you don't need a very precise point cloud, you can set this to reduce the output point cloud size. This is also used for optimized mesh.</string>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSMultiValueSpecifier</string>
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<key>Title</key>
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<string>Voxel Size</string>
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<key>Key</key>
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<string>VoxelSize</string>
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<key>DefaultValue</key>
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<real>0.01</real>
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<key>Titles</key>
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<array>
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<string>20 cm</string>
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<string>10 cm</string>
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<string>5 cm</string>
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<string>2 cm</string>
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<string>1 cm</string>
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<string>0.5 cm</string>
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<string>Disabled</string>
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</array>
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<key>Values</key>
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<array>
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<real>0.2</real>
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<real>0.1</real>
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<real>0.05</real>
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<real>0.02</real>
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<real>0.01</real>
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<real>0.005</real>
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<real>0</real>
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</array>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSGroupSpecifier</string>
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<key>FooterText</key>
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<string>If the map is large, you may want to increase this to maximize the texture resolution.</string>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSMultiValueSpecifier</string>
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<key>Title</key>
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<string>Texture Size</string>
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<key>Key</key>
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<string>TextureSize</string>
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<key>DefaultValue</key>
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<integer>4096</integer>
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<key>Titles</key>
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<array>
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<string>16384x16384</string>
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<string>8192x8192</string>
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<string>4096x4096</string>
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<string>2048x2048</string>
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<string>1024x1024</string>
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</array>
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<key>Values</key>
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<array>
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<integer>16384</integer>
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<integer>8192</integer>
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<integer>4096</integer>
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<integer>2048</integer>
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<integer>1024</integer>
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</array>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSGroupSpecifier</string>
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<key>FooterText</key>
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<string>Note that all textures are still merged into one for visualization, but exported in multiple files.</string>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSMultiValueSpecifier</string>
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<key>Title</key>
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<string>Maximum Output Textures</string>
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<key>Key</key>
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<string>MaximumOutputTextures</string>
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<key>DefaultValue</key>
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<integer>1</integer>
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<key>Titles</key>
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<array>
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<string>8</string>
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<string>7</string>
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<string>6</string>
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<string>5</string>
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<string>4</string>
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<string>3</string>
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<string>2</string>
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<string>1</string>
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</array>
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<key>Values</key>
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<array>
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<integer>8</integer>
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<integer>7</integer>
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<integer>6</integer>
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<integer>5</integer>
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<integer>4</integer>
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<integer>3</integer>
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<integer>2</integer>
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<integer>1</integer>
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</array>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSGroupSpecifier</string>
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<key>FooterText</key>
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<string>K-nearest neighbors used for normal computation when a mesh is created.</string>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSMultiValueSpecifier</string>
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<key>Title</key>
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<string>Normal K</string>
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<key>Key</key>
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<string>NormalK</string>
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<key>DefaultValue</key>
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<integer>18</integer>
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<key>Titles</key>
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<array>
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<string>30</string>
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<string>24</string>
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<string>18</string>
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<string>12</string>
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<string>6</string>
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</array>
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<key>Values</key>
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<array>
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<integer>30</integer>
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<integer>24</integer>
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<integer>18</integer>
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<integer>12</integer>
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<integer>6</integer>
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</array>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSGroupSpecifier</string>
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<key>FooterText</key>
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<string>Maximum distance from a camera for polygons to be textured by this camera.</string>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSMultiValueSpecifier</string>
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<key>Title</key>
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<string>Max Texture Distance</string>
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<key>Key</key>
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<string>MaxTextureDistance</string>
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<key>DefaultValue</key>
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<real>3</real>
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<key>Titles</key>
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<array>
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<string>No Limit</string>
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<string>5 m</string>
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<string>4.5 m</string>
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<string>4 m</string>
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<string>3.5 m</string>
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<string>3 m</string>
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<string>2.5 m</string>
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<string>2 m</string>
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</array>
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<key>Values</key>
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<array>
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<real>0</real>
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<real>5</real>
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<real>4.5</real>
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<real>4</real>
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<real>3.5</real>
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<real>3</real>
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<real>2.5</real>
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<real>2</real>
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</array>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSGroupSpecifier</string>
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<key>FooterText</key>
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<string>Minimum polygon cluster size to be textured by a camera. This helps to filter sparse textured polygons.</string>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSMultiValueSpecifier</string>
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<key>Title</key>
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<string>Min Texture Cluster Size</string>
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<key>Key</key>
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<string>MinTextureClusterSize</string>
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<key>DefaultValue</key>
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<integer>50</integer>
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<key>Titles</key>
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<array>
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<string>1000</string>
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<string>500</string>
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<string>200</string>
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<string>100</string>
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<string>50</string>
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<string>10</string>
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<string>Disabled</string>
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</array>
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<key>Values</key>
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<array>
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<integer>1000</integer>
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<integer>500</integer>
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<integer>200</integer>
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<integer>100</integer>
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<integer>50</integer>
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<integer>10</integer>
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<integer>0</integer>
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</array>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSGroupSpecifier</string>
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<key>Title</key>
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<string>Optimized</string>
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<key>FooterText</key>
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<string>Lowering this parameter decreases reconstruction time, but geometry precision is lower. Minimum polygon size: map length / 2^depth). "Auto" means that depth is chosen so that polygon size is just under 3 cm.</string>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSMultiValueSpecifier</string>
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<key>Title</key>
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<string>Reconstruction Depth</string>
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<key>Key</key>
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<string>ReconstructionDepth</string>
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<key>DefaultValue</key>
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<integer>0</integer>
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<key>Titles</key>
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<array>
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<string>Auto</string>
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<string>12</string>
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<string>11</string>
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<string>10</string>
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<string>9</string>
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<string>8</string>
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<string>7</string>
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<string>6</string>
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</array>
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<key>Values</key>
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<array>
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<integer>0</integer>
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<integer>12</integer>
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<integer>11</integer>
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<integer>10</integer>
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<integer>9</integer>
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<integer>8</integer>
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<integer>7</integer>
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<integer>6</integer>
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</array>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSGroupSpecifier</string>
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<key>FooterText</key>
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<string>Radius used to transfer nearest color from the point cloud to reconstructed mesh. When exporting with texture, if Clean Mesh is also enabled, this will limit the number of polygons textured in holes.</string>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSMultiValueSpecifier</string>
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<key>Title</key>
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<string>Color Radius</string>
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<key>Key</key>
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<string>ColorRadius</string>
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<key>DefaultValue</key>
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<real>0.05</real>
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<key>Titles</key>
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<array>
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<string>Nearest</string>
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<string>2 m</string>
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<string>1 m</string>
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<string>0.5 m</string>
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<string>0.2 m</string>
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<string>0.1 m</string>
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<string>0.05 m</string>
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<string>0.025 m</string>
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<string>0.02 m</string>
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<string>0.015 m</string>
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<string>0.01 m</string>
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<string>Disabled</string>
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</array>
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<key>Values</key>
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<array>
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<real>0</real>
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<real>2</real>
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<real>1</real>
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<real>0.5</real>
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<real>0.2</real>
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<real>0.1</real>
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<real>0.05</real>
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<real>0.025</real>
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<real>0.02</real>
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<real>0.015</real>
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<real>0.01</real>
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<real>-1</real>
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</array>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSGroupSpecifier</string>
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<key>FooterText</key>
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<string>Clean mesh from textureless or colorless reconstructed polygons.</string>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSToggleSwitchSpecifier</string>
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<key>Title</key>
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<string>Clean Mesh</string>
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<key>Key</key>
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<string>CleanMesh</string>
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<key>DefaultValue</key>
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<true/>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSGroupSpecifier</string>
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<key>FooterText</key>
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<string>This can be used to filter polygons before texturing.</string>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSMultiValueSpecifier</string>
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<key>Title</key>
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<string>Polygon Filtering</string>
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<key>Key</key>
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<string>PolygonFiltering</string>
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<key>DefaultValue</key>
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<integer>0</integer>
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<key>Titles</key>
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<array>
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<string>Only biggest cluster kept</string>
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<string>Keep all polygons</string>
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</array>
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<key>Values</key>
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<array>
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<integer>-1</integer>
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<integer>0</integer>
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</array>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSGroupSpecifier</string>
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<key>FooterText</key>
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<string>The format of exported point cloud data.</string>
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</dict>
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<dict>
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<key>Type</key>
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<string>PSMultiValueSpecifier</string>
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<key>Title</key>
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<string>Export Point Cloud Format</string>
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<key>Key</key>
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<string>ExportPointCloudFormat</string>
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<key>DefaultValue</key>
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<string>ply</string>
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<key>Titles</key>
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<array>
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<string>PLY</string>
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<string>LAS</string>
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</array>
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<key>Values</key>
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<array>
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<string>ply</string>
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<string>las</string>
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</array>
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</dict>
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</array>
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</dict>
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</plist>
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