MultiSense Cloud Demos
A set of demo software showing usage of Carnegie Robotic's MultiSense stereo products including the S7 and S21.
Note that these software packages generally assume operation with the 2 MP version of CRL's stereo systems and will need some tweaking to work with 4 MP imagers.
You will need to install a few prerequisites:
> sudo apt-get install build-essential cmake freeglut3-dev libcv-dev libopencv-contrib-dev libopencv-photo-dev
> mkdir build > cd build > cmake .. -DCMAKE_BUILD_TYPE=Release > make
Output files will be copied to ./bin
For best performance, plug the MultiSense unit directly into a Gigabit Ethernet port on your machine. See the ConfigureNetwork.sh script for an example of how to configure the network for good performance. The default MultiSense IP address is 10.66.171.21. In order to restart the network-manager after you are through running the demos, run:
sudo service network-manager restart
All these demo programs share a set of simple keyboard commands. Generally, a lower-case letter decreases a parameter, and the same upper-case letter increases it. So, for example, 'g' reduces the gain while 'G' increases the gain. There are also simple motion commands which allow you to fly around the scene.
Common demo commands:
- Left button: Pitch and yaw view
- Scroll wheel: Fly forward and back
- Right button: Pan view
Move camera: w = move forwards r = move up a & d = move left and right s = move backwards f = move down Tilt camera: u = pitch up h & k = yaw left and right j = pitch down g,G = Adjust live camera gain n,N = Adjust live camera noise (stereo post filtering) p,P = Adjust 3D point display size x,X = Adjust X clipping (removes left and right sides) y,Y = Adjust Y clipping (removes the ceiling) z,Z = Adjust Z clipping (removes distant objects) m,M = Step through variety of color display modes , = Toggle overlay of range and color data in same display . = Change which axis (Z or Y) is used for color range display +,- = Brighten/darken on-screen display q = Quit program
You can try adjusting the gain and the noise parameters to try to fill in some of your missing/black point cloud areas.
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