Target - Map
Track supports robust and accurate 6-DoF(Degree of freedom) real-time tracking and spatial mapping by map target tracking mode. From the fig 1., you can see the currently map target creator initializes its camera pose by given Image Target and starts spatial mapping around a given target. From the map target creator user can register either 3D-object and 3D-space easy and nice way. Track map target tracking mode is based on Visual SLAM working pipeline. So, from various view-points observation from the camera tracking framework, the map target creator is automatically generating keyframes and map-points, also we support local data saving function as well. User can save all map regarding data into local directory very easily. The fig 2. represents overall structure of our map target creator structure.
Since a map target data was successfully generated and saved, our API could load the map target data through the tracking framework initialization. So, user can start the map target tracking mode without spatial mapping. The map target tracking mode supports more faster and reliable tracking and re-localization performance rather than the map creator mode.
Limitations
- Supports only single map target
- Weak to pure rotation of camera motion
- Image Target-oriented initialization is needed
- Requires abundant feature points from 3D object or 3D environment
- Large-scale spatial mapping is not tested
Supported Platforms
Map target mode is experimental feature. Currently map target creator and tracker are supported on following platforms:
| Operating System | Supported |
|---|---|
| Windows | ✔ |
| Linux | ✔ |
| Android | ✔ |
| macOS | |
| iOS |
We only supports pre-calibrated camera intrinsic paramters for SAMSUNG Galaxy S20 Ultra and S21.
Map Target Creator
In this section, we will explain how to create a custom map target data with the native Android application. Currently, map target creator intializes with the given Image Target "VARIMG_000". Please see the "Download > Sample Targets" section of our documentation. When the image target is ready, please run the Android sample application. Once things to emphasize in here, sample app lock the fixed focal length. If you want to check how to calibrate your camera, please see the "Tutorial > Camera Calibration". Once the application have been initialized initialized successfully, the map target creator trys to find a input image target. You can see a 3-Dimensional axis(red, gree, and blue) atfer image target detection has been succeeded. After that, please move the camera view point to extend tracking area. We suggest you to make your camera movement carefully to enhance mapping and registration accuracy. When you want to save current map target, please press "Save Map" key, then all regarding data will be saved correctly.