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Calibration Approach
Posted Date: 2019-03-04 1:52     Edited Date: 2019-03-06 1:56     Writer: inactive

Please provide your development details as below;

1. SDK Version: 4.1
2. Development Environment: (eg. Unity-Android, Unity-iOS, Native Android, Native iOS) Unity Mac
3. Tracker/Scanner: Instant Tracker
4. License Type(Free / Pro-One Time Fee / Pro-Subscription / Enterprise): Free
5. External Camera


Hi,

I am looking for a calibration approach.

I see that SLAM Tracker is no longer part of the 4.1 sample scenes.
Has this been replaced by the Code Reader?

I am assuming there is a relationship between the SLAM tracker and the Instant Tracker?

In the Instant Tracker, I am finding that as the external camera contunues to scan a scene, and the scene changes, for example somone moving close to the model or, rcreating shadows on the floor, the tracker picks this up as 'noise' (extra unwanted and unstable points) and causes tracking issues (jitter).

How do I use SLAM to create/recognise a stable floor plane, stop the tracking, save the SLAM tracking and apply that mapped floor plane to the Instant Tracker?

I am thnking that I could lay down a mat/carpet (6x6 meters) with many detailed points.
Save this map, remove the mat from the scene and then apply the saved SLAM plane to the Instant tracker.
IS this possible?

Posted Date: 2019-03-04 8:42     Edited Date: 2019-03-04 8:42     Writer: slkim

In 4.1.0, the slam tracker was removed.
Code Reader is a bar code and QRCode recognizer.

The instant tracker sets the coordinate axis upward when the gravity sensor is present at the beginning of the tracking. The reason that noise starts is probably because you used a webcam. about 'Noise', Maybe it's because you used a webcam.

The instant tracker starts to learn about the surroundings. It's similar to a slam.

Also, the coordinates of the slam and the coordinates of the instant tracker are not identical and cannot be linked.

 

Keane, 

Maxst Support Team.

Posted Date: 2019-03-04 10:27     Edited Date: 2019-03-04 10:27     Writer: inactive

Thanks,
Not a web cam - a Canon C300 - a pro camera with low noise.
I did another test ISO 320, f11 @ 1/100 sec outdoors with a textured floor plane.
It was better, but jitte was still a problem.

I will wait for the jitter reduction in 4.1.1

Is it posible to 'stop continued tracking' without removal of the model content?
I still find that 'tracking noise' introduced by changing elements in the scene can affect tracking.
It would be nice to scan a floor plane to establish an accurate and stabile floor plane and then 'start tracking' with a model in the scene.

Would this be possible?

Mark

Posted Date: 2019-03-05 2:08     Edited Date: 2019-03-05 2:08     Writer: slkim

1. When tracking stops, do you want the content to look like UI?

2. For the tracking to be stable, the floor or plane with many feature is good.

 

Keane,

Maxst Support Team.

Posted Date: 2019-03-05 3:04     Edited Date: 2019-03-05 3:04     Writer: inactive

1. When tracking stops, do you want the content to look like UI?

Yes.
I want to scan the floor plane.
This could be supplemented with a pattern placed on the floor.
Save the floor plane.
Remove the pattern.
Begin tracking the model with the saved floor plane.
This way there should be no interference from changing content in the camera view, say a person walking close to the model, or even in front of the model.

Apple ARKit has great tracking.
You can place something between the model and camera and the tracking is stabile.
The model is always in front of any content.
Here is an Apple version I did:
https://youtu.be/hhe-IzeuPjM
As you can see, the monitor in the background flickers due to the camera settings inconsistent with the environment 33 fps and not 25 fps).
Apple engineers tell me that they will not allow the ARCamera API to include camera control (ever), so this platform is not considered.
Here is a Vizrt sample.  Note how someone can walk around the models with no interference in tracking.
Vizrt / Ncam calibrate the scene, horizontal and vertical planes which is then stored and models tracked to the environment:
https://youtu.be/4_l2MVusuoM

Mark

 

Posted Date: 2019-03-05 7:36     Edited Date: 2019-03-05 7:36     Writer: inactive

To put another way, I would like to map the plane with multiple passes to achieve a high quality and accurate plane.
Once mapped, models can be tracked to it.

Here is an example of how a finished Vizrt (graphics package) & Redspy (provides the 3D coordinates for Vizrt) set up.
It is very good system and very accurate.
It takes Redspy/Ncam about a full day to calibrate the system.
An iPad does it in a few seconds.
Instant Tracker does it Instantly, but constantly updates (which is not good for me) as it is affected by elements that change inthe scene.
I submit that your system with jitter compennsation could work as almost as well;
https://youtu.be/Ta-48vsH2cs
and,
https://youtu.be/P7zTjYhdR04

Mark

Posted Date: 2019-03-05 8:37     Edited Date: 2019-03-05 8:37     Writer: slkim

1. Our SDK needs a gravity sensor to find the correct plane.
2. If you put a patterned carpet on it and remove it, it will be affected immediately and will not be properly tracked.
3. SDK can not save the plane obtained by instant tracking.
4. because the c300 camera does not have sensor data, you must start the plane and horizontal learning to get the correct plane.That is, the coordinate axes are created properly when the camera starts with a plane view.
5. Use GetWorldPositionFromScreenCoordinate to learn how to move content while learning.
5. What you can do now is to reduce jitter.

 

thank you.

Posted Date: 2019-03-05 8:45     Edited Date: 2019-03-05 8:45     Writer: inactive

I understand and always start with the camera look down.

It would be good of you could map a plane accurately and then save it.
Could this be a future request?

Not sure how to implement GetWorldPositionFromScreenCoordinate to reduce jitter.
I undersatnd that jitter reduction will be in v4.1.1

Mark

 

Posted Date: 2019-03-06 1:13     Edited Date: 2019-03-06 1:13     Writer: slkim

We'll discuss saving it as a file.
Jitter reduction will be included in 4.1.1.

 

Keane,

Maxst Support Team.

Posted Date: 2019-03-06 1:56     Edited Date: 2019-03-06 1:56     Writer: inactive

Thank you:)