Visual SLAM
The Visual SLAM(Simultaneous Localization and Mapping) creates a map by scanning 3D space.
Create Instants
Starting / Stopping the Tracker
Starting / Stopping map generation, Saving map
Set Rendering Options
Create Instants
>SlamViewController.mm
- (void)viewDidLoad
{
...
trackingManager = [[MasTrackerManager alloc] init];
cameraDevice = [[MasCameraDevice alloc] init];
sensorDevice = [[MasSensorDevice alloc] init];
[MasMaxstAR onSurfaceCreated];
}
Starting / Stopping the Tracker
To start / stop Tracker, refer to the following code.
>SlamViewController.mm
- (void)resumeAR
{
...
[trackingManager startTracker:TRACKER_TYPE_SLAM];
}
- (void)pauseAR
{
[trackingManager stopTracker];
...
}
Starting / Stopping map generation, Saving map
- 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. When saving the generated map data to a file, refer to the following code for the file storage location.
>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, Axis, and Surface mesh information can be displayed by option setting. Refer to the following code.
>SlamViewController.mm
- (void)viewDidLoad {
...
backgroundRenderer = [[MasBackgroundRenderer alloc] init];
[backgroundRenderer setRenderingOption:FEATURE_RENDERER|PROGRESS_RENDERER|SURFACE_MESH_RENDERER];
...
}
See ‘MasBackgroundRenderer.MasRenderingOption enum' for option settings.
