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Andrea Settimi edited this page Dec 5, 2023
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Welcome to the TSlam wiki! This is a hands-on guide to start using TSlam.
You will require a laptop running Ubuntu 22
and,
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 ]
Follow the README.md
link for downloading it. Print them as paper stickers if you can.
Now we can start!