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

PDɊւ
	OSFWindows XP / Ubuntu8.04
		X܂āAWindows / Linux ŃRpCo悤ɂĂ܂(\[XR[h݊)B
		܂AŎgpĂJVC2008(Linuxł g++ gcc  4.2.4)ƂȂĂ܂AVCgpꍇVC2008𐄏܂B
	RTMFWindows / Linux 0.4.2
	OmniORBFWindowsł4.1.2ALinux4.1.1-2
	
	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܂

RDFSIɂďC{ꂽ@\ɂ
	Lu[VsAvP[V(calibration)calibration.cpp̃Lu[Vݒt@C(*.yml)𐶐鏈CĂ܂B
	{[hR[i[W_̏o͂Ǝv܂AۂɃt@CgpẴLu[VɁACvMatCvSeq֕ϊ@Ȃ߁ACvMatł̏o͂~߂CvSeqł̏o͂ɕύXĂ܂B

SDeAvP[Vɂ
  4.1. 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
  4.2. map
	ȗ(@\ɕύX͂܂)
  4.3. show_map
	ȗ(@\ɕύX͂܂)
  4.4. calib
	ȗ(@\ɕύX͂܂)
  4.5. CameraEyeComp
	IEEE1394J摜擾邽߂̃R|[lgłB
	ėp͊FłAIEEE1394Jڑł܂B
	܂Agpۂɂroot(邢͂ɕCG錠)KvɂȂ邩܂B
	ł́Arootsudoł̂ݎgp\łB

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