The 3D positions of the bulbs are calculated via a calibration step to blink the tree in a space-dependent pattern. This calibration involves recording multiple videos of the tree in different points ...
Authors: Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M. M. Montiel, Juan D. Tardos. The Changelog describes the features of each version. [ORBSLAM-VI] Raúl Mur-Artal, and Juan D.