Simulator Mapping

I. Installation:

• git submodule update --init --recursive
• ./install.sh

II. Usage:

1. Configure the parameters to your machine:

cd to Vocabulary/ directory and run: tar -xf ORBVoc.txt.tar.gz Open generalSettings.json and change:

• VocabularyPath to the path of you project
• DroneYamlPathSlam to the path of your drone config file
• offlineVideoTestPath to the path of the video you want to run of offline orb slam(described later)
• loadMapPathto the path of the map you created with orb slam
• simulatorOutputDir to the directory you want the output maps will go to
• mapInputDir to the directory your map after offline orb slam in - for using in the simulator
• modelPath to the path of your .obj model
• framesOutput to the folder where frames_lab_transformation_matrix.csv is in for using the point cloud transformation we want

2. Create video for orb slam mapping:

• run ./exe/mapping from the build folder

3. create Orb Slam map from video:

in order to create orb-slam map for using in the simulator you need to:

• run ./exe/offline_orb_slam from the build folder

4. Run orb slam on model:

• run ./exe/run_model_with_orb_slam from the build folder

5. localize on your own map:

for localize on the orb slam map from the known points on each frame(without model GUI)

• configure your parameters also on demoSettings.json
• run ./exe/demo from the build folder

6. Build partial map:

• run ./exe/save_first_frame from the build folder
• run ./exe/remove_map_points from the build folder
• run ./exe/build_new_map_demo from the build folder