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fix TransformProjectionFactorExampleISAM

release/4.3a0
lvzhaoyang 2014-12-07 00:53:08 -05:00
parent bd2b92b75d
commit 3943ce0d25
1 changed files with 9 additions and 9 deletions
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18
matlab/unstable_examples/TransformProjectionFactorExampleISAM.m
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@ -86,17 +86,17 @@ for i=1:20
if i > 1 if i > 1
if i < 11 if i < 11
initial.insert(i,result.at(i-1).compose(move_forward)); initial.insert(i,result.atPose3(i-1).compose(move_forward));
fg.add(BetweenFactorPose3(i-1,i, move_forward, covariance)); fg.add(BetweenFactorPose3(i-1,i, move_forward, covariance));
else else
initial.insert(i,result.at(i-1).compose(move_circle)); initial.insert(i,result.atPose3(i-1).compose(move_circle));
fg.add(BetweenFactorPose3(i-1,i, move_circle, covariance)); fg.add(BetweenFactorPose3(i-1,i, move_circle, covariance));
end end
end end
% generate some camera measurements % generate some camera measurements
cam_pose = initial.at(i).compose(actual_transform); cam_pose = initial.atPose3(i).compose(actual_transform);
% gtsam.plotPose3(cam_pose); % gtsam.plotPose3(cam_pose);
cam = SimpleCamera(cam_pose,K); cam = SimpleCamera(cam_pose,K);
i i
@ -127,10 +127,10 @@ for i=1:20
hold on; hold on;
%% plot results %% plot results
result_camera_transform = result.at(1000); result_camera_transform = result.atPose3(1000);
for j=1:i for j=1:i
gtsam.plotPose3(result.at(j)); gtsam.plotPose3(result.atPose3(j));
gtsam.plotPose3(result.at(j).compose(result_camera_transform),[],0.5); gtsam.plotPose3(result.atPose3(j).compose(result_camera_transform),[],0.5);
end end
xlabel('x (m)'); xlabel('x (m)');
@ -143,10 +143,10 @@ for i=1:20
% axis equal % axis equal
for l=101:100+nrPoints for l=101:100+nrPoints
plotPoint3(result.at(l),'g'); plotPoint3(result.atPoint3(l),'g');
end end
ty = result.at(1000).translation().y(); ty = result.atPose3(1000).translation().y();
text(5,5,5,sprintf('Y-Transform: %0.2g',ty)); text(5,5,5,sprintf('Y-Transform: %0.2g',ty));
if(write_video) if(write_video)
@ -168,7 +168,7 @@ fprintf('Cheirality Exception count: %d\n', cheirality_exception_count);
disp('Transform after optimization'); disp('Transform after optimization');
result.at(1000) result.atPose3(1000)