RTMapperSDK is a cross platform development SDK for RTMapperDesktop. It is developed with C++ and now supports both Linux & Windows x64 system enviroment. It use the GSLAM which is well designed to support different SLAM & SfM applications with the same APIs. RTMapperSDK needs images with GPS information as input while output both the pointcloud&ortho map at realtime.
Download from website: http://www.rtmapper.com
Currently, thereare two examples:
- Console example: run in console, without GUI interface. If you want just compile this example, please comment the line
- Qt example: with a Qt GUI interface, showing the map in real-time.
3. Compile example codes
When the SDK is not registed, it can only handle less than 30 keyframes and zoom less than 18. If you want to process more images with higher resolution, registration is needed using RTMapperDesktop.
4.2. Run with Datasets
- Run DroneMap Dataset
Download sample dataset with git:
git clone https://github.com/zdzhaoyong/phantom3-village-kfs
More dronemap datasets can be found at : http://zhaoyong.adv-ci.com/downloads/npu-dronemap-dataset/
- Run images Dataset
4.3. Demostration of outputs
- png & kml png and kml file can be exported with code:
The kml file can be imported to GoogleEarth:
tif file can be exported with code:
The geotiff file can be imported to GIS systems such as ArcGis, QGis .etc.
ply file can be exported with code:
The pointcloud file can be opened with softwares like meshlab.
The sample use Svar to config parameters. Users can modify the "Default.cfg" file or use code to set parameters.
Some of Parameters used by RTMapperSDK are listed below.
|SLAM.isOnline||0||0: offline 2: online|
|SLAM.nFeature||1000||1000-4000||desired keypoint number|
|SLAM.LostRestart||10||0-1e10||seconds slam tryed to relocalize|
|Map2DFusion.CacheFolder||.||the folder need to be edited mannally|
|Map2DFusion.Coordinate||GPS||GPS GCJ||GCJ for GaoDe and GoogleChina|
|Map2DFusion.MaxZoom||19||17-23||The map level of Map2DFusion|
|Map2DFusion.Thread||0||0: offline datasets 1: online datasets|
|Map2DFusion.CacheMB||1000||200-8000||size of map cache, should not be too small|