Use correct calibration matrix K in camera creation
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fd3b1d1cb5
commit
2414bfc3c9
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@ -24,10 +24,11 @@ nCameras = 10;
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height = 10;
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r = 30;
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poses = {};
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K = gtsamCal3_S2(500,500,0,640/2,480/2);
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for i=1:nCameras
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theta = (i-1)*2*pi/nCameras;
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t = gtsamPoint3([r*cos(theta), r*sin(theta), height]');
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camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2())
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camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K)
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poses{i} = camera.pose();
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end
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odometry = poses{1}.between(poses{2});
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@ -35,7 +36,6 @@ odometry = poses{1}.between(poses{2});
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poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
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pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1);
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measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0);
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K = gtsamCal3_S2(50,50,0,50,50);
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%% Create an ISAM object for inference
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isam = visualSLAMISAM;
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@ -32,10 +32,11 @@ nCameras = 6;
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height = 0;
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r = 30;
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poses = {};
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K = gtsamCal3_S2(500,500,0,640/2,480/2);
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for i=1:nCameras
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theta = (i-1)*2*pi/nCameras;
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t = gtsamPoint3([r*cos(theta), r*sin(theta), height]');
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camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2())
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camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K)
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poses{i} = camera.pose();
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end
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@ -48,7 +49,6 @@ graph = visualSLAMGraph;
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%% Add factors for all measurements
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measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma);
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K = gtsamCal3_S2(500,500,0,640/2,480/2);
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for i=1:nCameras
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camera = gtsamSimpleCamera(K,poses{i});
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for j=1:size(points,2)
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@ -23,10 +23,11 @@ nCameras = 6;
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height = 10;
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r = 30;
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poses = {};
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K = gtsamCal3_S2(500,500,0,640/2,480/2);
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for i=1:nCameras
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theta = (i-1)*2*pi/nCameras;
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t = gtsamPoint3([r*cos(theta), r*sin(theta), height]');
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camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2())
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camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K)
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poses{i} = camera.pose();
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end
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@ -34,7 +35,6 @@ end
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graph = visualSLAMGraph;
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%% Add factors for all measurements
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K = gtsamCal3_S2(500,500,0,640/2,480/2);
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measurementNoiseSigma=1; % in pixels
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measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma);
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for i=1:nCameras
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