Below will detail how to collect Colorized SLAM data with your ROCK Colorized SLAM Dock V2.
Colorized SLAM Data Capture with the R3 Pro and Insta360 camera
Prior to collecting your first Colorized SLAM dataset, you will need to complete the extrinsic calibration workflow.
Follow these instructions to collect your data:
- Go to the location where you want to start collecting data.
- Turn on the Insta360 camera and R3 Pro allowing them to go through their initialization process.
- The light on the R3 Pro will turn green when the self-test completes and the R3Pro is ready to start collecting data.
If the GNSS antenna is connected and you are getting satellite signal outdoors, the self-test will complete with a solid green indicator light.
If you are collecting SLAM data with no GNSS antenna, then the self-test will complete with a solid green indicator light for 3 seconds followed by one second of a red light. This indicates that you are in SLAM mode with no GNSS signal.
- Ensure that your Insta360 camera is set to record in video mode.
- Push the record button (red dot button on the side) on your Insta360 camera to begin recording. You should see the timer start and increase to indicate that video data is being collected. Please note the amount of time available for recording, as that will serve as a limit to colorized SLAM data capture.
- Use the one-button method to start data collection on the R3Pro. Push the button once and you should see the indicator light alternate between red and green. Next hold the button down for five seconds, and the light should turn solid green.
- The R3Pro indicator light should then begin flashing green to indicate that you are collecting data.
- Once collecting data, stand at your start point with the R3Pro unit above your head. Wait for approximately 30 seconds to collect static data.
When collecting Colorized SLAM data, please ensure that your Insta360 camera is facing towards the feature you want to map. For example if you want to collect SLAM data around the outside of a building, you would walk parallel to the building, however you would want your camera lens to be facing the side of the building you wish to map.
- Collect your SLAM data following ROCK’s recommendations for SLAM capture like moving your R3 Pro slowly and in a controller manner. Also, be sure to practice loop closure by periodically returning to a previously surveyed point.
- Once you have finished collecting your data in your survey area, please collect 5-10 seconds of static data before stopping data collection. Push the button on your R3 Pro once, followed by holding down the button for 5 seconds.
- After the R3 Pro has finished collecting data, stop the recording on your Insta360 camera.
- Turn off your R3 Pro and Insta360 camera, then carefully disassemble your unit.
- You can use the USB-C to USB-C cable to connect and download the data from your Insta360 camera, and use the USB drive to download the data from your R3 Pro.
- Connect the USB-C cable to your insta360 at the bottom of the unit.
- Connect the USB-C to your computer.
- Ensure the Insta360 is in USB mode (should be by default)
- The insta360 will show up as a drive in windows. Open the drive and navigate to the DCIM directory.
- In that directory you will see .insv files. You need to put two insv files into the Cam1 directory of your R3 Pro processing directory before processing with Rock Desktop.
If you are collecting multiple missions, be sure to check the file dates of the insv files to make sure you have the correct front / back for the particular data collection you performed.
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- After you transfer the two insv files from your insta360 you can delete the insv files off of the insta360.
Once all of your LiDAR and camera data have been downloaded to your computer, you can process your data in ROCK Desktop.