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The two mapping modes can be selected using the default Mapping Mode Icon or the Mapping
with Camera Mode Icon by selecting the desktop icon with the same name.
M O D E S W I T C H E S
Mapping
– The default shipping configuration.
Mapping with Camera
(Mapping using the Feature Tracker) – Adds the capability to map when
there are sparser features in the environment or when tilting the scanner for vertical buildings,
towers, or aerial payloads.
Stencil 2 ships with the ability to create detailed maps and provides 6 DoF real time odometry (x, y,
z, roll, pitch, and yaw) at 200 Hz with less than 15 msec latency.
To create 3D maps, most users do not need to know the details about odometry and localization.
Stencil 2 orients itself with respect to a prior map and provides the basis for creating maps in
more complex environments. Advanced users can use this localization ability to create maps that
