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.