Home

Welcome to the TSlam wiki! This is a hands-on guide to start using TSlam.

Before you start

You will require a laptop running Ubuntu 22 and,

(a) A usb camera + calibration file

TSlam is designed for monocular RGB cameras (3D cameras will not work as is). Monocular are just simple cameras like a normal webcam. We recommend using a fish-eye since it gives you a wider detection range. To calibrate the camera you can refer to our repository to calibrate a camera. You will obtain/need a .yml file in opencv format to use it in TSlam, like this one:

%YAML:1.0
---
image_width: 1280
image_height: 720
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [ 5.6179718862595769e+02, 0., 6.4349424059711373e+02, 0.,
       5.6146049053435411e+02, 3.4430617832682464e+02, 0., 0., 1. ]
distortion_coefficients: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [ -2.4776321654659408e-01, 7.4589742789025762e-02,
       2.0010415733276928e-04, 2.3476155179987635e-04,
       -1.0510058960990047e-02 ]

(b) Printed tags

Follow the README.md link for downloading it. Print them as paper stickers if you can.

Now we can start!