##Street Smarts
TODO:
Physical Params:
Angle of camera
D435 vs D415
Test Scripts:
fps (30/60/90)
auto-exposure (on/off)
white balance (on/off)
filter params (on/off)
Reconstruction:
Timestamps for images
Covariance matrix from DOP?
Loop Closure from distance
Analysis:
Web:
Capture Controller
Point cloud viewer
mkdir build
cd build
cmake ..
make -j4
+---------------------+ +----------------------+
| | | |
| Tx2 | | Server |
Images | | Fragments | |
+--->+ Capture Depth/Color | +-------> Register Fragments |
+--------+ | | | And | | |
| | | | Generate Fragments | PoseGraph | Refine Registration |
| | | | and PoseGraph | | | |
| Camera +--+ | | | | Optimize PoseGraph |
| | | Compress Fragment +-------+ | |
| | | and Upload to | | |
| | | Server | Optimized | Send Optimized |
+--------+ | | PoseGraph----+ PoseGraph to Tx2 |
| | | | |
| Integrate Images | | | |
| Using Optimized +<------+ | |
| PoseGraph | | |
| | Final Model | |
| Upload Final Model +-------------->+ Final Model Analyzed |
| | | For Impairments |
+---------------------+ +----------------------+