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⇤ ← Revision 1 as of 2010-12-13 20:34:55
Size: 1045
Comment: initial
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Size: 1524
Comment: calib
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== Configuration == === Camera calibration === You currently have to modify the following lines in the file $JAFAR_DIR/modules/rtslam/demo_suite/demo_slam.cpp in order to setup the camera calibration: {{{#!highlight cpp const unsigned IMG_WIDTH = 640; const unsigned IMG_HEIGHT = 480; const double INTRINSIC[4] = { 306.2969, 264.7741, 499.9177, 494.4829 }; const double DISTORTION[3] = { -0.2293129, 0.08793152, -0.01349877 }; }}} == Running the demo == |
Using RT-SLAM
Configuration
Camera calibration
You currently have to modify the following lines in the file $JAFAR_DIR/modules/rtslam/demo_suite/demo_slam.cpp in order to setup the camera calibration:
1 const unsigned IMG_WIDTH = 640;
2 const unsigned IMG_HEIGHT = 480;
3 const double INTRINSIC[4] = { 306.2969, 264.7741, 499.9177, 494.4829 };
4 const double DISTORTION[3] = { -0.2293129, 0.08793152, -0.01349877 };
Running the demo
1 cd $JAFAR_DIR/build/modules/rtslam
2 demo_suite/<platform>/demo_slam <options>
Program options:
--disp-2d=0/1
--disp-3d=0/1
--render-all=0/1 (needs --replay 1)
--data-path=/mnt/ram/rtslam
--replay=0/1 (needs --data-path)
--dump=0/1 dump the images (--replay=0) or the rendered views (--replay=1) (needs --data-path)
--log=0/1 log result in text file
--rand-seed=0/1/n. 0=generate new one, 1=in replay use the saved one, n=use seed n
--pause=0/n. 0=don't, n=pause for frames>n (needs --replay 1)
--robot 0=constant vel, 1=inertial
--trigger 0=internal, 1=external with MTI control, 2=external without control
--simu 0/1
--freq camera frequency in double Hz (with trigger==0/1)
--shutter shutter time in double seconds (with trigger==1)
--verbose=0/1/2/3/4/5. Off/Trace/Warning/Debug/VerboseDebug/VeryVerboseDebug
--help
--usage