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Visual SLAM

Related documentations
Map Manager
Tracker Coordinate System
Visual SLAM Learning Guide

The Visual SLAM(Simultaneous Localization and Mapping) creates a map by scanning 3D space.

Please refer Visual SLAM Learning Guide to create a map more precisely while scanning 3D space.

Create Instants
Start / Stop Tracker
Start / Stop Map Creation & Map Saving
Set Rendering Options

Create Instants

>SlamViewController.mm

- (void)viewDidLoad
{
    ...
    trackingManager = [[MasTrackerManager alloc] init];
    cameraDevice = [[MasCameraDevice alloc] init];
    sensorDevice = [[MasSensorDevice alloc] init];
}

Start / Stop Tracker

To start / stop Tracker, refer to the following code.

>SlamViewController.mm

- (void)resumeAR
{
    ...
    [trackingManager startTracker:TRACKER_TYPE_SLAM];
}

- (void)pauseAR
{
    [trackingManager stopTracker];
    ...
}

Start / Stop Map Creation & Map Saving

  • To start a map generation, refer to the following code.
[trackingManager findSurface];
  • To stop generating a map, refer to the following code.
[trackingManager quitFindingSurface];
  • Saving map is only possible while tracking. Refer to the following code for the file storage location when you save the generated map data as a file.

>SlamViewController.mm

- (NSString *) getFilePath
{
 NSArray *documentPath = NSSearchPathForDirectoriesInDomains(NSDocumentDirectory, NSUserDomainMask, YES);
 NSString *contentsPath = [[NSString alloc] initWithFormat:@"%@/3DMap", [documentPath objectAtIndex:0]];
 
 NSFileManager *filemanager = [NSFileManager defaultManager];
 BOOL isDir;
 BOOL exists = [filemanager fileExistsAtPath:contentsPath isDirectory:&isDir];

 if(exists == NO)
 {
  [filemanager createDirectoryAtPath:contentsPath withIntermediateDirectories:YES attributes:nil error:NULL];
 }
 
 NSString *filePath = [NSString stringWithFormat:@"%@/%@", contentsPath,[self GetDateForFileName]];
 return filePath;
}

Set Rendering Options

Feature points, SLAM initialization progress, and axis can be created with 'FeaturePoint', 'Axis' class. Refer to the following code.

>SlamViewController.mm

- (void)viewDidLoad {
    ...
    featurePoint = [[FeaturePointCPU alloc] init];
    axis = [[Axis alloc] init];
    ...
}

- (void)glkView:(GLKView *)view drawInRect:(CGRect)rect
{
     ...
    [featurePoint draw:trackingManager projectionMatrix:projectionMatrix TrackingState:true];
    
     glEnable(GL_DEPTH_TEST);
    if([result getCount] > 0)
    {
        isTracked = true;
        MasTrackable *trackable = [result getTrackable:0];
   
        [axis setProjectionMatrix:projectionMatrix];
        [axis setPoseMatrix:[trackable getPose]];
        [axis setTranslation:0.0f y:0.0f z:0.0f];
        [axis setScale:0.5f y:0.5f z:0.5f];
        [axis draw];
    }
}

Preferably, use landscape left mode (screen orientation) for Visual SLAM.