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release/4.3a0
Frank Dellaert 2012-06-07 21:52:15 +00:00
parent 14c38918c0
commit 922822d0b9
3 changed files with 8 additions and 8 deletions
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2
matlab/examples/Pose2SLAMExample_graph.m
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@ -12,7 +12,7 @@
%% Initialize graph, initial estimate, and odometry noise %% Initialize graph, initial estimate, and odometry noise
model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 5*pi/180]); model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 5*pi/180]);
[graph,initial]=load2D('../Data/w100-odom.graph',model); [graph,initial]=load2D('../../examples/Data/w100-odom.graph',model);
initial.print(sprintf('Initial estimate:\n')); initial.print(sprintf('Initial estimate:\n'));
%% Add a Gaussian prior on pose x_1 %% Add a Gaussian prior on pose x_1

8
matlab/examples/Pose3SLAMExample_graph.m
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@ -11,13 +11,13 @@
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
N = 2500; N = 2500;
% filename = '../Data/sphere_smallnoise.graph'; % filename = '../../examples/Data/sphere_smallnoise.graph';
% filename = '../Data/sphere2500_groundtruth.txt'; % filename = '../../examples/Data/sphere2500_groundtruth.txt';
filename = '../Data/sphere2500.txt'; filename = '../../examples/Data/sphere2500.txt';
%% Initialize graph, initial estimate, and odometry noise %% Initialize graph, initial estimate, and odometry noise
[graph,initial]=load3D(filename,model,true,N);
model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]); model = gtsamSharedNoiseModel_Sigmas([0.05; 0.05; 0.05; 5*pi/180; 5*pi/180; 5*pi/180]);
[graph,initial]=load3D(filename,model,true,N);
%% Plot Initial Estimate %% Plot Initial Estimate
figure(1);clf figure(1);clf

6
matlab/examples/VO_Example.m
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@ -12,7 +12,7 @@
%% Load calibration %% Load calibration
% format: fx fy skew cx cy baseline % format: fx fy skew cx cy baseline
calib = dlmread('../Data/VO_calibration.txt'); calib = dlmread('../../examples/Data/VO_calibration.txt');
K = gtsamCal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6)); K = gtsamCal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6));
stereo_model = gtsamSharedNoiseModel_Sigmas([1.0; 1.0; 1.0]); stereo_model = gtsamSharedNoiseModel_Sigmas([1.0; 1.0; 1.0]);
@ -24,7 +24,7 @@ initial = visualSLAMValues;
%% load the initial poses from VO %% load the initial poses from VO
% row format: camera_id 4x4 pose (row, major) % row format: camera_id 4x4 pose (row, major)
fprintf(1,'Reading data\n'); fprintf(1,'Reading data\n');
cameras = dlmread('../Data/VO_camera_poses.txt'); cameras = dlmread('../../examples/Data/VO_camera_poses.txt');
for i=1:size(cameras,1) for i=1:size(cameras,1)
pose = gtsamPose3(reshape(cameras(i,2:17),4,4)'); pose = gtsamPose3(reshape(cameras(i,2:17),4,4)');
initial.insertPose(symbol('x',cameras(i,1)),pose); initial.insertPose(symbol('x',cameras(i,1)),pose);
@ -32,7 +32,7 @@ end
%% load stereo measurements and initialize landmarks %% load stereo measurements and initialize landmarks
% camera_id landmark_id uL uR v X Y Z % camera_id landmark_id uL uR v X Y Z
measurements = dlmread('../Data/VO_stereo_factors.txt'); measurements = dlmread('../../examples/Data/VO_stereo_factors.txt');
fprintf(1,'Creating Graph\n'); tic fprintf(1,'Creating Graph\n'); tic
for i=1:size(measurements,1) for i=1:size(measurements,1)