This is the result:
Artoolkit with a Rangefinder from binarymillenium on Vimeo.
The following plots show the tracked attitude of the rangefinder as measured by ARToolkit:
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjrRqc9p9JW-9YnfBo1JXDrh6xehFmfTdRk5sAipTkmuXBv0rZzfuQQHJz0a8dLGnvl1lMuJJizix89EEBx3qALPGkMdJEZiR4bdr9BfhbJR6FAOo37N6cIMzrWgoLDSa4Vj6gT/s400/camera_angle_side.png)
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgkNSK9WkmHtOUDc__7-lX65EFfPUiko6OEyjRS5dnNS5bCP_tYodQYPj37Z46fVxky80EG248GFmNg_RJoRwm6DW-bKNzWKQtT18DFvq6FJisHjl6HbXAKPxbEk4HZa2mWv3BW/s400/camera_angle_top.png)
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEjiGnr622OwD447qoJHwMidZmSnXz3vwrLop_IdTCxg6qxtcOANsLWAC1bl_9sYVWop03Xx1wksiUfhMykFauli_S-upyGNuVXSJL99VSIrHEz8eH-NeZHmOCO-IALk-GxZeV8y/s400/camera_angle_45.png)
My left to right bottom to top scanning approach is very apparent.
And here is the tracked attitude (as a 3-component vector) plus the range vs. time:
![](https://blogger.googleusercontent.com/img/b/R29vZ2xl/AVvXsEgQ1JWSLzxgOuJIxY2eHWO2ZxPZ4XtbKF-rSeAZ55yb72-DPL8ma0Ql07tcL7NnNTG3PH9LnZEPqQV1iqODwzA4IKu65xNjAe6wiBK7TJDD_9h1A7skcw0p3av2B9JvWCZcKgph/s400/dist.png)
You can see how cyclical it is, as I scan the floor in front of me the range doesn't change much until I reach one end and tilt the tripod up a little, and then later on I start to capture the two wheels of the car.
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