Using RT-SLAM

Configuration

There are no configuration files yet. All the constant variables in capital letters defined at the beginning of the file $JAFAR_DIR/modules/rtslam/demo_suite/demo_slam.cpp are open to tuning. Some important ones are described with more details below.

Camera calibration

You have to modify the following lines 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