Visual SLAM

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

Starting / Stopping the Tracker
Starting / Stopping map generation, Saving map
Setting Rendering Options

Starting / Stopping the Tracker

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

VisualSLAMSample.cs

void Start ()
{
    ...
    TrackerManager.GetInstance().StartTracker(TrackerManager.TRACKER_TYPE_SLAM);
    ...
}

void OnApplicationPause(bool pause)
{
    ...
    TrackerManager.GetInstance().StopTracker();
    ...
}

void OnDestroy()
{
    TrackerManager.GetInstance().StopTracker();
    TrackerManager.GetInstance().DestroyTracker();
}

Starting / Stopping map generation, Saving map

  • 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. When saving the generated map data to a file, refer to the following code for the file storage location.

VisualSLAMSample.cs

public void SaveSurfaceData(string imageFileName)
{
    SurfaceThumbnail surfaceThumbnail = TrackerManager.GetInstance().SaveSurfaceData(imageFileName);
    int width = surfaceThumbnail.GetWidth();
    int height = surfaceThumbnail.GetHeight();
    byte[] thumbnailData = surfaceThumbnail.GetData();

    Texture2D tex = new Texture2D(width, height, TextureFormat.RGB24, false);

    for (int y = 0; y < height; y++)
    {
        for (int x = 0; x < width; x++)
        {
            int index = y * width + x;
            tex.SetPixel(x, height - y, new Color(thumbnailData[index] / 255.0f, thumbnailData[index] / 255.0f, thumbnailData[index] / 255.0f));
        }
    }
    tex.Apply();

    FileStream fileSave = new FileStream(Application.dataPath + "/" + imageFileName + ".png", FileMode.Create);
    BinaryWriter binary = new BinaryWriter(fileSave);

    binary.Write(tex.EncodeToPNG());
    fileSave.Close();
}

Setting Rendering Options

Feature points, SLAM initialization progress, Axis, and Surface mesh information can be displayed by option setting. Refer to the following code.

VisualSLAMSample.cs

void Start()
{
    ...
    BackgroundRenderer.GetInstance().SetRenderingOption(BackgroundRenderer.RenderingOption.FEATURE_RENDERER, BackgroundRenderer.RenderingOption.PROGRESS_RENDERER, BackgroundRenderer.RenderingOption.SURFACE_MESH_RENDERER);
    ...
}

See BackgroundRenderer.RenderingOption enum for option settings.