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Use correct calibration matrix K in camera creation

release/4.3a0
Frank Dellaert 2012-06-07 03:35:06 +00:00
parent fd3b1d1cb5
commit 2414bfc3c9
3 changed files with 6 additions and 6 deletions
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4
examples/matlab/VisualISAMExample.m
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@ -24,10 +24,11 @@ nCameras = 10;
height = 10; height = 10;
r = 30; r = 30;
poses = {}; poses = {};
K = gtsamCal3_S2(500,500,0,640/2,480/2);
for i=1:nCameras for i=1:nCameras
theta = (i-1)*2*pi/nCameras; theta = (i-1)*2*pi/nCameras;
t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); t = gtsamPoint3([r*cos(theta), r*sin(theta), height]');
camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2()) camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K)
poses{i} = camera.pose(); poses{i} = camera.pose();
end end
odometry = poses{1}.between(poses{2}); odometry = poses{1}.between(poses{2});
@ -35,7 +36,6 @@ odometry = poses{1}.between(poses{2});
poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]'); poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1); pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1);
measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0); measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0);
K = gtsamCal3_S2(50,50,0,50,50);
%% Create an ISAM object for inference %% Create an ISAM object for inference
isam = visualSLAMISAM; isam = visualSLAMISAM;

4
examples/matlab/VisualSLAMExample.m
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@ -32,10 +32,11 @@ nCameras = 6;
height = 0; height = 0;
r = 30; r = 30;
poses = {}; poses = {};
K = gtsamCal3_S2(500,500,0,640/2,480/2);
for i=1:nCameras for i=1:nCameras
theta = (i-1)*2*pi/nCameras; theta = (i-1)*2*pi/nCameras;
t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); t = gtsamPoint3([r*cos(theta), r*sin(theta), height]');
camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2()) camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K)
poses{i} = camera.pose(); poses{i} = camera.pose();
end end
@ -48,7 +49,6 @@ graph = visualSLAMGraph;
%% Add factors for all measurements %% Add factors for all measurements
measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma); measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma);
K = gtsamCal3_S2(500,500,0,640/2,480/2);
for i=1:nCameras for i=1:nCameras
camera = gtsamSimpleCamera(K,poses{i}); camera = gtsamSimpleCamera(K,poses{i});
for j=1:size(points,2) for j=1:size(points,2)

4
examples/matlab/VisualSLAMExample_triangle.m
View File

@ -23,10 +23,11 @@ nCameras = 6;
height = 10; height = 10;
r = 30; r = 30;
poses = {}; poses = {};
K = gtsamCal3_S2(500,500,0,640/2,480/2);
for i=1:nCameras for i=1:nCameras
theta = (i-1)*2*pi/nCameras; theta = (i-1)*2*pi/nCameras;
t = gtsamPoint3([r*cos(theta), r*sin(theta), height]'); t = gtsamPoint3([r*cos(theta), r*sin(theta), height]');
camera = gtsamSimpleCamera_lookat(t, gtsamPoint3(), gtsamPoint3([0,0,1]'), gtsamCal3_S2()) camera = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K)
poses{i} = camera.pose(); poses{i} = camera.pose();
end end
@ -34,7 +35,6 @@ end
graph = visualSLAMGraph; graph = visualSLAMGraph;
%% Add factors for all measurements %% Add factors for all measurements
K = gtsamCal3_S2(500,500,0,640/2,480/2);
measurementNoiseSigma=1; % in pixels measurementNoiseSigma=1; % in pixels
measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma); measurementNoise = gtsamSharedNoiseModel_Sigma(2,measurementNoiseSigma);
for i=1:nCameras for i=1:nCameras