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fix TransformProjectionFactorExample.m 

But there is a issue that optimizer doesn't generate the trajectory. Will fix it later.
release/4.3a0
lvzhaoyang 2014-12-07 00:57:32 -05:00
parent 3943ce0d25
commit b881135f53
1 changed files with 6 additions and 6 deletions
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12
matlab/unstable_examples/TransformProjectionFactorExample.m
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@ -61,17 +61,17 @@ cheirality_exception_count = 0;
for i=1:20 for i=1:20
if i > 1 if i > 1
if i < 11 if i < 11
initial.insert(i,initial.at(i-1).compose(move_forward)); initial.insert(i,initial.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,initial.at(i-1).compose(move_circle)); initial.insert(i,initial.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
@ -93,14 +93,14 @@ fprintf('Cheirality Exception count: %d\n', cheirality_exception_count);
%% camera plotting %% camera plotting
for i=1:20 for i=1:20
gtsam.plotPose3(initial.at(i).compose(camera_transform)); gtsam.plotPose3(initial.atPose3(i).compose(camera_transform));
end end
xlabel('x (m)'); xlabel('x (m)');
ylabel('y (m)'); ylabel('y (m)');
disp('Transform before optimization'); disp('Transform before optimization');
initial.at(1000) initial.atPose3(1000)
params = LevenbergMarquardtParams; params = LevenbergMarquardtParams;
params.setAbsoluteErrorTol(1e-15); params.setAbsoluteErrorTol(1e-15);
@ -112,7 +112,7 @@ optimizer = LevenbergMarquardtOptimizer(fg, initial, params);
result = optimizer.optimizeSafely(); result = optimizer.optimizeSafely();
disp('Transform after optimization'); disp('Transform after optimization');
result.at(1000) result.atPose3(1000) % results is empty here. optimizer doesn't generate result?
axis([0 25 0 25 0 10]); axis([0 25 0 25 0 10]);
axis equal axis equal