RTMapperDesktop

This program running on desktop/laptop computer for fast/real-time processing captured photos and video.

Main window

This software has following GUI components:

  1. Menu bar: control the operation
  2. Tool bar: quick access the operation
  3. Log window: display the running status
  4. Side bar: control the visualization options, and current images
  5. Status pannel: display processing status

main window

Project options

When creating the project or load the project, you can set the compution options.

Options for SLAM:

  • nFeature: Extracted feature number for each frame, default value is 1000.
  • MaxOverlap: Maximum overlap between consequative frames, default value is 0.95.
  • LostRestart: Determin how long the SLAM restart when lost tracking, default value is 10 seconds.

project option1

Options for Map2DFusion:

  • Coordinate: aviable settings include
    • GCJ: Google, Gaode map's coordinate (default)
    • GPS: WGS84 coordinate
    • BAIDU: Baidu map's coordinate
  • WarpMode:
    • DLT: Direct linear transform method (default)
    • MDLT: Multi-DLT method
  • Blender:
    • Multiband: Use adaptive weighted multiband to fuse images to photo (default)
    • Simple: Simple fusing alogirhm.
    • SeamMultiband: Use seam and multiband algorithm.
  • MaxZoom: Maximum zoom level for generating map. Default value is 19 (resolution is 0.2986 m/pixel), and maximum value is 21 (resolution is 0.0746 m/pixel).
  • CacheMB: How man tile cache can be used, the unit is MB. Default value is 1000 MB.
  • FittingThresho: Threshold for fitting ground plane, default value is 20 m.

project option2

Camera parameters

This software use OpenCV's camera model. For more detailed description you can found them at here.

  • width, height: The pixel size in column and row.
  • fx, fy: The focal length in x and y direction.
  • cx, cy: The principle center in x and y direction.
  • k1, k2, p0, p1, k3: radial distortion parameters.

set camera