OD͂߂
	{hLǵAVirQ[V\[XR[hQɊւLqĂ܂B
	\[XR[h܂߂āAR[hShift-JISɂȂĂ܂B

PDɊւ
	OSFWindows XP / Ubuntu10.04
		X܂āAWindows / Linux ŃRpCo悤ɂĂ܂(\[XR[h݊)B
		܂AŎgpĂJVC2008(Linuxł g++ gcc  4.2.4)ƂȂĂ܂AVCgpꍇVC2008𐄏܂B
	RTMFWindows  0.4.2 /  Linux 1.0 
	OmniORBFWindowsł4.1.2ALinux4.1.4
	
	ӎFuRTCCameraEyevƁuUndistortionvɊւ܂ẮAVCp̃vWFNg݂͑Ă܂񂵁AmFĂ܂B

QDtH_[(fBNg)\
	CeilingNavigation		-> VirQ[VRTC\\[Xt@Ci[Ă܂B
		+ CeilingMap		-> gbLOpAvP[V (t@CɎWindowsœ\ɂ܂)
		+ CeilingNavigationComp	-> VCɍtH_
		+ Common		-> uCeilingMapvushow_mapvuCeilingNavigationvʂŎgpĂt@Ci[Ă܂B
		+ offline_image		-> ItC摜t@CQi[Ă܂
		+ show_map		-> gbLOʕ\AvP[V (t@CɎWindowsœ\ɂ܂)
		+ Undistortion		-> Lu[Vp^oc[
	RTCCameraEye			-> IEEE1394J摜擾RTC\\[Xt@Ci[Ă܂

RDeAvP[Vɂ
  3.1. CeilingNavigationComp (Linux̏ꍇCeilingNavigationLinux)
	VirQ[VsRTR|[lgłB
	{R|[lgɂ́AqCameraEyeCompR|[lgKvɂȂ܂B
	R|[lgɂ́AR|[lgNɕύX\ȃp^(RtBO[V)ݒ肳Ă܂B
	RtBO[VڍׁF
		NavigationMap		-> V摜t@C
		OfflineImage		-> ItCC[Wt@CQi[tH_
		X_POS			-> W
		Y_POS			-> W
		THETA			-> 
		BlockResolution		-> X5xŒŒ`Ă܂ARTCۂɉςƂĂ݂܂B
		BlockSize		-> X64~64ŒŒ`Ă܂ARTCۂɉςƂĂ݂܂B
		BlockCoefficient	-> X0.3ŒŒ`Ă܂ARTCۂɉςƂĂ݂܂B
		SearchScope		-> gp
		BlackWhiteValue		-> 2l臒l (X240)
		Center_X		-> 摜SW
		Center_Y		-> 摜SW
	gp@F
		Bꑶ݂Ă̓|[gɁACameraEye̗B̏o͂ڑāACameraEyeANeBuɖ{R|[lgANeBu܂B
		RtBO[V̓ANeBuOɐݒ肵ĂB
  3.2. map
  3.3. show_map
	ȉ̃t@CpăV~[Vs܂B
	------
	}b`OpVn}Fceiling-map-2009-01-19_b.pgm
	\pVn}Fceiling-map-2009-01-19_c.pgm
	V摜p̃fBNgFcapture_data(vFcݕ␳)
	ʃZ[up̃fBNgFmap_tracking

	s@

	#make
	Q̎st@C

	*pgm.hŃG[ꍇ́Alibnetpbm10-devCXg[Ă


	svO
	ʕ\pvOFshowmap
	gbLOpvOFmap

	#./showmap/show_map
	#./map

	̃vO̓ItCœV摜pȈʒuV~[V
	邽߂̃\tgEFAłBcݕ␳摜ǂݍݎȈʒuȈʒu
	s܂B

	vOshow_mapNAmaps܂BmapŎȈʒu
	vZʓLshow_map󂯁Aʂ\ĂBmap͈
	ŎȈʒuݒ肷邱Ƃ\łB}EX̉ENbNŏʒup
	̐ݒs܂BvXŏl̎wsA[X|CgŌ
	w肵܂BsƓYtrfI(video.ogg)̂悤ɓ삵܂B


  3.4. calib
	cݕ␳pvO

	s@()
	#make
	#sudo ./calib -w 11 -h 8  -s 3 -n 10 -o camera.yml -op -oe

	1.Lu[Vp^[ăp^[𔭌琔bԒ~
	2.̊ԂɎ̎pɃp^[ύX
	3.p^[摜łL͈͂ŕ\A摜擾
	4.10p^[ƎIɘcݕ␳摜\

  3.5. CameraEyeComp
	IEEE1394J摜擾邽߂̃R|[lgłB
	IvgijLp^J NM33V[Y NM33-N-UVCƂUSBڑłт܂iLinux̂݁jB
	http://www.optnagano.co.jp/products/nm33.html

	܂Agpۂɂroot(邢͂ɕCG錠)KvɂȂ邩܂B
	ł́Arootsudoł̂ݎgp\łB

SD̑
	VirQ[VRTR|[lg̃CNt@C(Makefile.CeilingNavigation)܂VC̃vWFNgݒɂāARpC̃IvVƂāu-D_OFFLINE_IMAGEvݒ肷邱ƂɂAItCC[WgpĂ̓ɂȂ܂B
