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. 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