SLAM3D-Video

Mobile application to 3D track camera trajectory using SLAM. As SLAM implementation ORB_SLAM3 is used. Recreated scene can be exported into glTF file and opened in more specialized software e.g. Blender In order to ORB_SLAM3 work properly, provide correct intrinsic camera parameters. There are plans to add autocalibration in the future

Showcase

Object insertion

Left side is original + reprojected

Right side is recreated scene

Scene recreation timelapse

Scene processing in Blender.

Dependencies

• ORB_SLAM3
• OpenCV for Android
• Boost (1_72_0)
• openssl (1.0.2s)
• filament, filamat, filament-uitls
• JglTF

Build

Regular Android studio project build (CMAKE required)

Blender import

In order to properly import glTF scene in to blender some thing need to be done:

• Before import glTF file, make sure that you've setup right scene framerate. (it must be equal to fps of original video)

  

• After import glTF file into blender

• Setup scene. Select "cameraRoot" object, uncheck scale keyframes. Then open "Object proeprty" and on "Transform" tab set X scale to -1

  

• Setup camera background

  

• View through camera

  

• Change scene whatever you like