Marker SLAM User Manual

Marker SLAM User Manual
Marker SLAM
User Manual
For Windows, Mac, and Linux
Purpose
Determine the position and orientation of a webcam in real time
using fiducial marker SLAM (simultaneous localization and
mapping).
See the location information on any device using OSC (open
sound control).
Getting Started
You will need:
o A room
o Printed fiducial marker/s (see list of acceptable markers
on next page)
o Webcam/s
Step 1: Markers
Acceptable markers are shown below.
Print out up to 64 different markers on individual pages.
Print out each marker in any size.
Step 2: Webcams
Connect all webcams to your Windows, Mac, or Linux device that
will be running the application.
Tip: Try adjusting your webcam’s contrast/sharpness so that
the image appears sharper. This will allow the program to work
better.
Step 3: Find Your Starting Point
Pick any spot in the room to be point (0, 0, 0).
Pick any direction to be the 0° orientation.
Example:
I will choose (0, 0, 0) to be in the center of the room, and 0° will
be in the North direction. (See picture below)
2m
Y
X
WEBCAM
2m
Z
0
(0,0,0,0)
270
90
180
Step 4: Place Your Markers
Choose where you would like to place the markers relative to the
origin point.
Determine the orientation of the marker first. Then determine
the x, y, z position when you are in that orientation. Make sure to
measure to the center of the marker.
Example:
I printed out 4 markers. (See picture below).
Marker 1: Orientation: 0, Position: (0, 1, 1)
Marker 2: Orientation: 90, Position: (0, 1, 1)
Marker 3: Orientation: 180, Position: (0, 1, 1)
Marker 4: Orientation: 270, Position: (0, 1, 1)
(0,0,0,0)
(0,1,1,180)
(0, 1, 1, 90)
(0, 1, 1, 270)
(0,1,1,0)
Step 5: Basic App Setup
Select a webcam and whether it is front or back-facing.
If desired, view the help screen.
See the
Help Screen
Select a
Webcam
Show/Hide List of
Markers
List of
Markers
Flip
Camera
Webcam Position
x, y, z direction
(in meters)
Webcam
Orientation
y direction
(in degrees)
# of
Markers
/Add
More
Markers
Save
Marker
Data
Load
Step 6: Register Your Markers
Click on the + sign by Count to add a marker to the list of
registered markers.
For each marker register, select a marker. Then type in its
position and orientation.
Measure the width of the marker. Type it in.
Click on the – sign by a marker register to delete it.
A marker will not be detected unless registered by the user.
Show/Hide List of
Markers
Select a
Marker
Marker #
Add More
Markers
Marker’s
Orientation in
degrees
Marker’s
Position in
meters
Marker’s
width in
meters
Delete this
Marker
Register
Step 7: Determine the Webcam
Position/Orientation
Once a marker has been registered, it can be detected by the
program.
A set of axes and a red cube will be overlaid on the marker if it
has been detected. The marker’s registered number, position,
and orientation will also be displayed on the marker.
In the bottom left hand corner of the screen, the webcam’s
position and orientation will be displayed, once the program has
detected at least one marker.
I’M AT (0.12,
0.96, 0.28, 1.07)
Current Location
of Webcam
Step 8: See the Webcam
Position/Orientation on Any Device
The program sends out a packet of information containing the
webcam’s position and orientation every few seconds via OSC.
Too receive this information on another device, make sure you
have Python installed. Then make sure you have the file
reader.py
Open Command Prompt, or Terminal.
Go into the folder containing reader.py
Type in “python reader.py” and click Enter.
If working correctly, Command Prompt should display, “Starting
OSCServer…”
Once the Marker SLAM app is running, it will send out the
position/orientation information. Command Prompt will then
start displaying “received new osc msg…” with the information
every few seconds.
Step 9: Save
Save your all of your registered marker data to use again later.
Click on the floppy disk icon in the bottom right-hand corner.
The program will take a screenshot that will be displayed in the
save browser.
Choose a destination to save, type in a filename, then click Save.
Step 10: Load
Load a previously saved set of registered markers.
Click on the open folder icon in the bottom right-hand corner.
Find the destination where you last saved the marker data.
Click on the file that you want to load.
Confirm this is the correct file by looking at the screenshot that
appears.
Thanks for using the app!
License
IMPORTANT: READ BEFORE DOWNLOADING, COPYING,
INSTALLING OR USING.
By downloading, copying, installing or using the software you
agree to this license.
If you do not agree to this license, do not download, install, copy
or use the software.
License Agreement
For Open Source Computer Vision Library
Copyright (C) 2000-2008, Intel Corporation, all rights
reserved.
Copyright (C) 2008-2011, Willow Garage Inc., all rights
reserved.
Third party copyrights are property of their respective owners.
Redistribution and use in source and binary forms, with or
without modification, are permitted provided that the following
conditions are met:
* Redistributions of source code must retain the above
copyright notice, this list of conditions and the following
disclaimer.
* Redistributions in binary form must reproduce the above
copyright notice, this list of conditions and the following
disclaimer in the documentation and/or other materials
provided with the distribution.
* The name of the copyright holders may not be used to
endorse or promote products derived from this software
without specific prior written permission.
This software is provided by the copyright holders and
contributors "as is" and any express or implied warranties,
including, but not limited to, the implied warranties of
merchantability and fitness for a particular purpose are
disclaimed.
In no event shall the Intel Corporation or contributors be liable
for any direct, indirect, incidental, special, exemplary, or
consequential damages (including, but not limited to,
procurement of substitute goods or services; loss of use, data,
or profits; or business interruption) however caused and on any
theory of liability, whether in contract, strict liability, or tort
(including negligence or otherwise) arising in any way out of the
use of this software, even if advised of the possibility of such
damage.
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