1 Mapping phase
Find a timber piece and stick your tags to the piece. We advise one stripe for each face.
Once you have done run the following set of flags to start mapping in TSlam executable:
.build/util/tslam_moncular live:0 \
camera_calibration.yml \
-voc ./assets/voc/orb.fbow \
-out <output-path>Follow the GUI to start/stop recording, you will need a keyboard to input keystrokes. Once you have mapped some faces you can turn the timber. To avoid the distortion we recommend to start from the middle of the timber piece and go on both ends.
⚠️ : for better results try to follow the ridge of the piece to manufacture with your camera
Once you have done stop the recording. An optimization will start. You can inspect your map with ./build/utils/TSlam_map_viewer <path-to-map>, you should see something similar to this:
For reconstructing the geometry you can run the following executable:
./build/utils/tslam_reconstruct <path-to-output-yml-file> <output-path> <mesh-name>This will reconstruct the geometry from the map. You can import this mesh in rhino, add new elements and export it in the same imported coordinate system as a mesh. You can do this in any modeller (Rhino, Blender, etc). Any added widgets will be visible in the next phase.
