csps view_v0.1

Overview

The csps-view software is used to display CSPS-processed structure in three dimensions in order to have an overview of the results. It considers camera captures as position and orientation measure points to represent the camera track in three dimensions considering a local flat earth model.

Usage

The csps-view software expects the following arguments and parameters. Starting with the stream arguments and parameters :

--path -p

Path to the CSPS-processed structure (directory).

The CSPS tags are specified using the following arguments and parameters :

--cam-tag -c, --cam-mod -m

CSPS-tag of the camera device and CSPS-module to consider for query on 
CSPS, respectively.

--gps-tag -g, --gps-mod -n

CSPS-tag of the GPS device and CSPS-module to consider for query on 
CSPS, respectively.

--imu-tag -i, --imu-mod -s

CSPS-tag of the IMU device and CSPS-module to consider for query on 
CSPS, respectively.

Demonstration

Using this software on a CSPS-processed structure obtained using an eyesis4pi camera device in Geneva city, the following three dimensional view is obtained :

The red, green and blue axis of the main frame represents respectively earth longitude, latitude and altitude. Its origin is shifted near the camera track.

To move the point of view, the mouse and keyboard are used. Maintaining the left-button of the mouse allows to rotate to viewpoint. Maintining the right-button allow to move forward and backward in the direction of view. The mouse wheel can be used to change viewpoint altitude.

Compilation

The software binary can be build using its specific makefile by simply typing in its base directory :

$ make clean && make build [OPENMP=false]

The binary is placed in the local bin directory and is not copied in the csps-suite main bin directory. To generate the documentation, use the command :

$ make clean-documentation && make documentation

To install or uninstall the binaries on the local computer, use the commands :

# make install
# make uninstall