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Live capture

Run from a camera

scripts/run_live.py reads a webcam or capture card (OpenCV).

python scripts/run_live.py --device 0 --max-frames 200 --config configs/live_webcam.yaml

Output folder outputs/live/session/:

  • status.json: coverage percent, frame count
  • coverage.ply: green / red map
  • minimap.png: small 2D map image

Viewer window

python scripts/viewer_live.py --dir outputs/live/session

Shows the coverage percent and minimap. Refreshes every 2 seconds. Press Q to quit.

Works on a finished batch run too:

python scripts/viewer_live.py --dir outputs/c3vd/trans_t1_a

Note

Live mode still uses the simple fallback SLAM. ORB-SLAM3 is batch-only for now.