Live camera views (rectified by the OpenCV 5 front end)
Merged map
Camera 0
Camera 1
Camera 2
Covered (verified overlap)
Paths cross, not verified yet
Seen by one camera
Notifications to walkers
3D Point Cloud
Stereo depth of every Swarm-SLAM keyframe, placed at its merged-map pose and re-placed after each optimization. Grows with the replay: each camera's points appear once it has reached them, with its path and current position (diamond). Colored by camera; floor at z = 0.
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Decision log (latest first)
| Time | Camera | Trigger | Decided by | Action | Blur | Track inliers | OpenCV inliers | Reason |
|---|
Devices · Wi-Fi cameras planned · not built yet
Each walker's stereo camera will stream here over Wi-Fi, and that walker's alerts
(covered, slow down, tracking lost) will go to their phone. The addresses below are from
config/cameras.yaml and are assumed, not tested.