Immersal Mapper App
A pre-built app for mapping the physical world with the Immersal Cloud Service

Download the Immersal Mapper App

The fastest way to start mapping is with our Immersal Mapper App which is available for download for both Android and iOS
You can log in to the app using your registered account credentials.
‎Immersal Mapper
App Store
Immersal Mapper - Apps on Google Play

Basic Concepts

Capturing Images/Mapping

The Cloud Service constructs maps from images and camera data such as camera intrinsics and tracked camera pose data. The Immersal Mapper app uses AR Foundation to access the data and then submits it to the Immersal Cloud Service using the REST API.
LiDAR data from the latest iOS devices is not currently used due to range limitations.

Image Connectivity

In simplified terms, the Cloud Service constructs maps by comparing images of the same things from different viewpoints. It uses the different viewpoints to compute a 3D structure for the map.
For good results, you should capture at least 3 different viewpoints for all parts of the target area of your location. See Introduction to Mapping for more information.


The workspace is temporary storage for your image data in the Cloud Service. As you capture images with the Immersal Mapper, the workspace is where they are initially stored. Your workspace is persistent and the stored data stays safe even if you close the app.
Once you submit a map for construction, all data from the workspace is copied and sent off for processing.
After submitting a map for construction, and certainly before starting to map a new location, you should reset the workspace by deleting existing images.

Restoring a Map

You can restore image data from older maps to the workspace if you need to expand the mapped area or remap the location.

Anchor Image

An Anchor image is used for two things. Initial local alignment for maps and matching alignment if the same location is remapped.
When a map is constructed, its Y "up" axis is determined by the rotation of the device. But the local Z "forward" axis and the map's origin/pivot point are not determined before construction and can seem random. If you take an Anchor Image, the camera position for the Anchor Image becomes the map's origin point and the Z-axis will be aligned with the camera view direction.
When remapping an area, you can restore the old map data and delete all images except for the Anchor Image. When you then remap the area, the old Anchor Image will make sure the new map will align with the old one.

Visual GPS

If image GPS coordinates are submitted for map construction, the map will be tagged and aligned in global coordinates (ECEF). The device's localized local position in the map can then be converted to global ECEF or WGS84 coordinates. This is what we call Visual GPS (VGPS).

Quick Start

Perhaps the best way to get started is to watch this short video tutorial before diving deeper.
Quick Start video for the Immersal Mapper App

Using the Immersal Mapper App

The Immersal Mapper App has two modes
    Workspace Mode for capturing images and constructing maps
    Visualize Mode for reviewing and evaluating constructed maps


You can log in to the app using your registered account credentials.

Workspace Mode

Default View

On the top of the screen, you can see the Workspace Info Panel which shows you
    The number of uploaded and stored images in the Clour Service workspace
    Images still waiting to be uploaded to the Cloud Service workspace and only temporarily stored on the device
    Current device GPS coordinates (Lat/Lon/Alt) if GPS is enabled
    Horizontal and Vertical accuracy (HAcc/VAcc) of the GPS coordinates in meters
There are three buttons at the bottom of the screen
    Switch Mode switches between Workspace and Visualize modes
    Capture Image captures an image and adds it to the upload queue
    Options opens a dialog for the Workspace mode settings and functions

Workspace Options

There are three settings in the workspace mode
    Capture GPS Coordinates records the device's GPS coordinates and submits them along with the captured images. The coordinates are used to tag the map and align it in global ECEF/WGS84 coordinates.
    Capture RGB Images enables the upload of color images instead of grayscale images. The file size is larger, but the resulting mesh output from map construction will have color textures. Visual positioning performance is not affected by this option!
    Check Image Connectivity enables or disables a guide that tests connectivity to the previous image. This is useful when beginning mapping, but can be turned off later once you have more experience.
There are also three functions in the workspace mode
    Delete Images resets the workspace. You should always clear the workspace before starting to map a new location. You can also choose to keep an Anchor Image if available.
    Add Anchor Image captures an Anchor Image for the map or updates an existing one.
    Submit for Map Construction submit the workspace's image set for map construction. After submission, all the data is backed up and you can safely reset the workspace. The data for constructed maps can always be restored later.

Capturing Images

When you press the capture button, three things happen.
    An image and additional data like the camera intrinsics, camera pose and GPS coordinates are captured.
    The image is processed by the SDK plugin and compared to the previous image if Check Image Connectivity is enabled.
    The image and captured data are added to the upload queue where they are automatically uploaded to the Cloud Service workspace.

Checking connectivity

When the captured image is compared to the previous image, the SDK plugin tries to visually match it as the map construction depends on having multiple viewpoints of the same visual features.
    If matching is successful, an Image connected to previous notification is shown
    If not, an Image not connected to previous notification is shown
The comparison is a useful guide when learning mapping but connecting all images in sequence is not a requirement! Images can be connected out of sequence during map construction.

Visualize Mode

Default View

On the top of the screen, you can see the Workspace Info Panel which shows you
    Number of successful localization of all attempts
    Visual GPS (VGPS) coordinates computed from the visual positioning result and the map's global coordinates. These coordinates are updated every frame by AR Foundation's camera tracking.
      Visual Latitude (VLat)
      Visual Longitude (VLon)
      Visual Altitude (VAlt)
      Visual Bearing (VBRG)
Visual GPS coordinates and their accuracy depend on the map's global coordinates, which are derived from captured image GPS coordinates by default
There is one button at the top of the screen and three buttons at the bottom of the screen
    Download Maps opens the map list. You can download, restore and delete previously constructed maps from this list
    Switch Mode switches between Visualize and Workspace modes
    Localize button invokes either the on-device or on-server localizer and tries to localize the camera view against all downloaded maps
    Options opens a dialog for the Visualize mode settings
Map list
Successfully localized the camera view against a map
Visualize Options
The visualize mode options have five settings
    Show Point Clouds toggles the visibility of downloaded point clouds
    Render Points as 3D toggles the between rendering 2D points or 3D points with perspective
    Point Size allows you to scale the points if they are rendered too small or large for your location
    On-server Localization toggles between the SDK plugin's on-device localizer and the Cloud Service's on-server localizer.
    List Only Nearby Maps activates map list filtering. Only maps within a radius of 500m are displayed in the list if turned on
Visualize Mode Options

Map List Settings

You can download multiple maps for localization evaluation by clicking on the toggles on the left. You can also unload maps the same way.
Each map has one of four possible statuses:
    Queued (A blue clock icon) means the construction job is waiting to start
    Processing (Blue cog wheels icon) means the map is currently being constructed
    Done (A green checkmark) means the map is done and ready for download
    Failed (A red cross) means the map construction process failed
Each map also has some options available. You can access these options by clicking the cogwheel icon. Current options are
    Delete (A trashcan icon) will delete the map. You can not undo this action!
    Restore (A download icon) will overwrite the current workspace data with the selected map's data


Once you download map(s) to the device, you can test and evaluate the Visual Positioning using either the SDK plugin's on-device localizer or the Cloud Service's on-server localizer. They have full feature parity and you can switch between these from the Visualize Mode Options.
When you first load any map, the device is not localized to it and the points will appear out of place.
The device has not been localized to the map
After a successful localization, the points will instantly snap in place.
Last modified 6mo ago