Visual SLAM
Related documentations |
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Map Manager |
Tracker Coordinate System |
Visual SLAM Learning Guide |
The Visual SLAM(Simultaneous Localization and Mapping) creates and saves 3-dimensional maps of target spaces for more exquisite AR project.
Please refer Visual SLAM Learning Guide to create a map more precisely while scanning 3D space.
Start / Stop Tracker
Start / Stop Map Creation & Map Saving
Set Rendering Options
Start / Stop Tracker
To start / stop tracker, refer to the following code.
>SlamActivity.java
@Override protected void onResume() { ... TrackerManager.getInstance().startTracker(TrackerManager.TRACKER_TYPE_SLAM); ... } @Override protected void onPause() { ... TrackerManager.getInstance().stopTracker(); ... }
Start / Stop Map Creation & Map Saving
- To start a map generation, refer to the following code.
TrackerManager.getInstance().findSurface();
- To stop generating a map, refer to the following code.
TrackerManager.getInstance().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.
>SlamActivity.java
public void onClick(View view) { switch (view.getId()) { ... case R.id.save_map: ... SurfaceThumbnail surfaceThumbnail = TrackerManager.getInstance().saveSurfaceData(mapFileName); ... } }
Set Rendering Options
Feature points, SLAM initialization progress, and axis can be created with 'FeaturePoint', 'Axis' class. Refer to the following code.
>ObjectTrackerRenderer.java
private FeaturePointCPU featurePoint; private Axis axis; @Override onSurfaceCreated(GL10 unused, EGLConfig config) { ... backgroundCameraQuad = new BackgroundCameraQuad(); featurePoint = new FeaturePointCPU(); axis = new Axis(); Bitmap blueBitmap = MaxstARUtil.getBitmapFromAsset("bluedot.png", activity.getAssets()); Bitmap redBitmap = MaxstARUtil.getBitmapFromAsset("reddot.png", activity.getAssets()); featurePoint.setFeatureImage(blueBitmap, redBitmap); featurePoint.setTrackState(true); ... } @Override onDrawFrame(GL10 unused) { featurePoint.draw(TrackerManager.getInstance(), projectionMatrix); if (trackingResult.getCount() > 0) { Trackable trackable = trackingResult.getTrackable(0); axis.setTransform(trackable.getPoseMatrix()); axis.setTranslate(0, 0, 0); axis.setScale(0.3f, 0.3f, 0.3f); axis.setProjectionMatrix(projectionMatrix); axis.draw(); } }
Preferably, use landscape left mode (screen orientation) for Visual SLAM.