12345qiupeng
/
gtsam
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

-VisualISAMExample now uses only 5 scripts. 

-Generate data in Initialize callback
-Plot points and first camera without covariance when initialize
-Add VisualISAMDemo script, which calls global, and the gui
release/4.3a0
Duy-Nguyen Ta 2012-06-08 22:36:34 +00:00
parent 3bad1346d6
commit f3b9bccfd5
7 changed files with 41 additions and 199 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
matlab/examples/VisualISAMDemo.m Normal file
View File

@ -0,0 +1,2 @@
VisualISAMInitOptions
VisualISAM_gui

178
matlab/examples/VisualISAMExample.m
View File

@ -11,174 +11,14 @@
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
clear
%% Data Options
TRIANGLE = false;
NCAMERAS = 20;
SHOW_IMAGES = false;
%% iSAM Options
HARD_CONSTRAINT = false;
POINT_PRIORS = false;
BATCH_INIT = true;
REORDER_INTERVAL=10;
ALWAYS_RELINEARIZE = false;
%% Display Options
SAVE_GRAPH = false;
PRINT_STATS = true;
DRAW_INTERVAL = 20;
CAMERA_INTERVAL = 1;
DRAW_TRUE_POSES = false;
SAVE_FIGURES = false;
SAVE_GRAPHS = false;
%% Generate simulated data
if TRIANGLE % Create a triangle target, just 3 points on a plane
nPoints = 3;
r = 10;
for j=1:nPoints
theta = (j-1)*2*pi/nPoints;
points{j} = gtsamPoint3([r*cos(theta), r*sin(theta), 0]');
figure(1);
VisualISAMInitOptions
VisualISAMGenerateData
VisualISAMInitialize
VisualISAMPlot
for frame_i=2:NCAMERAS
VisualISAMStep
if mod(frame_i,DRAW_INTERVAL)==0
VisualISAMPlot
end
else % 3D landmarks as vertices of a cube
nPoints = 8;
points = {gtsamPoint3([10 10 10]'),...
gtsamPoint3([-10 10 10]'),...
gtsamPoint3([-10 -10 10]'),...
gtsamPoint3([10 -10 10]'),...
gtsamPoint3([10 10 -10]'),...
gtsamPoint3([-10 10 -10]'),...
gtsamPoint3([-10 -10 -10]'),...
gtsamPoint3([10 -10 -10]')};
end
%% Create camera cameras on a circle around the triangle
height = 10; r = 40;
K = gtsamCal3_S2(500,500,0,640/2,480/2);
for i=1:NCAMERAS
theta = (i-1)*2*pi/NCAMERAS;
t = gtsamPoint3([r*cos(theta), r*sin(theta), height]');
cameras{i} = gtsamSimpleCamera_lookat(t, gtsamPoint3, gtsamPoint3([0,0,1]'), K);
if SHOW_IMAGES % show images
figure(2+i);clf;hold on
set(2+i,'NumberTitle','off','Name',sprintf('Camera %d',i));
for j=1:nPoints
zij = cameras{i}.project(points{j});
plot(zij.x,zij.y,'*');
axis([1 640 1 480]);
end
end
end
odometry = cameras{1}.pose.between(cameras{2}.pose);
%% Set Noise parameters
poseNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
odometryNoise = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
pointNoise = gtsamSharedNoiseModel_Sigma(3, 0.1);
measurementNoise = gtsamSharedNoiseModel_Sigma(2, 1.0);
%% Initialize iSAM
isam = visualSLAMISAM(REORDER_INTERVAL);
newFactors = visualSLAMGraph;
initialEstimates = visualSLAMValues;
i1 = symbol('x',1);
camera1 = cameras{1};
pose1 = camera1.pose;
if HARD_CONSTRAINT % add hard constraint
newFactors.addPoseConstraint(i1,pose1);
else
newFactors.addPosePrior(i1,pose1, poseNoise);
end
initialEstimates.insertPose(i1,pose1);
% Add visual measurement factors from first pose
for j=1:nPoints
jj = symbol('l',j);
if POINT_PRIORS % add point priors
newFactors.addPointPrior(jj, points{j}, pointNoise);
end
zij = camera1.project(points{j});
newFactors.addMeasurement(zij, measurementNoise, i1, jj, K);
initialEstimates.insertPoint(jj, points{j});
end
%% Run iSAM Loop
figure(1);clf;hold on;
set(1,'NumberTitle','off','Name','iSAM timing');
for i=2:NCAMERAS
%% Add odometry
newFactors.addOdometry(symbol('x',i-1), symbol('x',i), odometry, odometryNoise);
%% Add visual measurement factors
for j=1:nPoints
zij = cameras{i}.project(points{j});
newFactors.addMeasurement(zij, measurementNoise, symbol('x',i), symbol('l',j), K);
end
%% Initial estimates for the new pose. Also initialize points while in the first frame.
%TODO: this might be suboptimal since "result" is not the fully optimized result
if (i==2), prevPose = cameras{1}.pose;
else, prevPose = result.pose(symbol('x',i-1)); end
initialEstimates.insertPose(symbol('x',i), prevPose.compose(odometry));
%% Update ISAM
if BATCH_INIT & (i==2) % Do a full optimize for first two poses
initialEstimates
fullyOptimized = newFactors.optimize(initialEstimates)
initialEstimates = fullyOptimized;
end
figure(1);tic;
isam.update(newFactors, initialEstimates);
t=toc; plot(i,t,'r.'); tic
result = isam.estimate();
t=toc; plot(i,t,'g.');
if ALWAYS_RELINEARIZE % re-linearize
isam.reorder_relinearize();
end
if SAVE_GRAPH
isam.saveGraph(sprintf('VisualiSAM.dot',i));
end
if PRINT_STATS
isam.printStats();
end
if mod(i,DRAW_INTERVAL)==0
%% Plot results
tic
h=figure(2);clf
set(1,'NumberTitle','off','Name','Visual iSAM');
hold on;
for j=1:size(points,2)
P = isam.marginalCovariance(symbol('l',j));
point_j = result.point(symbol('l',j));
plot3(point_j.x, point_j.y, point_j.z,'marker','o');
covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P);
end
for ii=1:CAMERA_INTERVAL:i
P = isam.marginalCovariance(symbol('x',ii));
pose_ii = result.pose(symbol('x',ii));
plotPose3(pose_ii,P,10);
if DRAW_TRUE_POSES % show ground truth
plotPose3(cameras{ii}.pose,0.001*eye(6),10);
end
end
axis([-40 40 -40 40 -10 20]);axis equal
view(3)
colormap('hot')
figure(2);
t=toc;
if DRAW_INTERVAL~=NCAMERAS, plot(i,t,'b.'); end
if SAVE_FIGURES
print(h,'-dpng',sprintf('VisualiSAM%03d.png',i));
end
if SAVE_GRAPHS
isam.saveGraph(sprintf('VisualiSAM%03d.dot',i));
end
end
%% Reset newFactors and initialEstimates to prepare for the next update
newFactors = visualSLAMGraph;
initialEstimates = visualSLAMValues;
end

1
matlab/examples/VisualISAMInitialize.m
View File

@ -25,4 +25,5 @@ for j=1:nPoints
end
frame_i = 1
result = initialEstimates;
cla;

24
matlab/examples/VisualISAMPlot.m
View File

@ -1,26 +1,28 @@
VisualISAMGlobalVars
if (frame_i<2)
sprintf('Cannot plot the first frame')
return
end
%% Plot results
tic
% h=figure(2);clf
% set(1,'NumberTitle','off','Name','Visual iSAM');
cla;
h=gca;
cla(h);
hold on;
sprintf('Computing marginals and plotting. Please wait...')
for j=1:size(points,2)
P = isam.marginalCovariance(symbol('l',j));
point_j = result.point(symbol('l',j));
plot3(point_j.x, point_j.y, point_j.z,'marker','o');
covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P);
if (frame_i>1)
P = isam.marginalCovariance(symbol('l',j));
covarianceEllipse3D([point_j.x;point_j.y;point_j.z],P);
end
end
for ii=1:CAMERA_INTERVAL:frame_i
P = isam.marginalCovariance(symbol('x',ii));
pose_ii = result.pose(symbol('x',ii));
if (frame_i>1)
P = isam.marginalCovariance(symbol('x',ii));
else
P = []
end
plotPose3(pose_ii,P,10);
if DRAW_TRUE_POSES % show ground truth
plotPose3(cameras{ii}.pose,0.001*eye(6),10);
@ -33,10 +35,12 @@ sprintf('Done!')
% figure(2);
t=toc;
if DRAW_INTERVAL~=NCAMERAS, plot(frame_i,t,'b.'); end
% if DRAW_INTERVAL~=NCAMERAS, plot(frame_i,t,'b.'); end
if SAVE_FIGURES
print(h,'-dpng',sprintf('VisualiSAM%03d.png',frame_i));
end
if SAVE_GRAPHS
isam.saveGraph(sprintf('VisualiSAM%03d.dot',frame_i));
end
drawnow

3
matlab/examples/VisualISAMStep.m
View File

@ -37,9 +37,6 @@ end
if PRINT_STATS
isam.printStats();
end
if mod(frame_i,DRAW_INTERVAL)==0
VisualISAMPlot
end
%% Reset newFactors and initialEstimates to prepare for the next update
newFactors = visualSLAMGraph;

BIN
matlab/examples/VisualISAM_gui.fig
View File

Binary file not shown.

32
matlab/examples/VisualISAM_gui.m
View File

@ -53,11 +53,8 @@ function VisualISAM_gui_OpeningFcn(hObject, eventdata, handles, varargin)
% varargin command line arguments to VisualISAM_gui (see VARARGIN)
% Choose default command line output for VisualISAM_gui
VisualISAMGlobalVars
VisualISAMInitOptions
VisualISAMGenerateData
handles.output = hObject;
VisualISAMInitOptions
% Update handles structure
guidata(hObject, handles);
@ -66,6 +63,11 @@ guidata(hObject, handles);
% uiwait(handles.figure1);
function showFramei(hObject, handles)
VisualISAMGlobalVars
set(handles.frameStatus, 'String', sprintf('Frame: %d',frame_i));
guidata(hObject, handles);
% --- Outputs from this function are returned to the command line.
function varargout = VisualISAM_gui_OutputFcn(hObject, eventdata, handles)
% varargout cell array for returning output args (see VARARGOUT);
@ -81,12 +83,13 @@ function intializeButton_Callback(hObject, eventdata, handles)
% hObject handle to intializeButton (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
sprintf('init button')
VisualISAMGlobalVars
DRAW_INTERVAL = str2num(get(handles.drawInterval,'String')) ;
NCAMERAS = str2num(get(handles.numCamEdit,'String')) ;
VisualISAMGenerateData
VisualISAMInitialize
VisualISAMPlot
showFramei(hObject, handles)
% --- Executes on button press in stepButton.
function stepButton_Callback(hObject, eventdata, handles)
@ -96,8 +99,11 @@ function stepButton_Callback(hObject, eventdata, handles)
VisualISAMGlobalVars
if (frame_i<NCAMERAS)
frame_i = frame_i+1;
sprintf('Frame %d:', frame_i)
showFramei(hObject, handles)
VisualISAMStep
if mod(frame_i,DRAW_INTERVAL)==0
VisualISAMPlot
end
end
% --- Executes on selection change in popupmenu1.
@ -117,8 +123,7 @@ function popupmenu1_Callback(hObject, eventdata, handles)
case 'cube'
TRIANGLE = false
end
VisualISAMGenerateData
VisualISAMInitialize
% --- Executes during object creation, after setting all properties.
function popupmenu1_CreateFcn(hObject, eventdata, handles)
@ -133,13 +138,6 @@ if ispc && isequal(get(hObject,'BackgroundColor'), get(0,'defaultUicontrolBackgr
end
% --- Executes on button press in backButton.
function backButton_Callback(hObject, eventdata, handles)
% hObject handle to backButton (see GCBO)
% eventdata reserved - to be defined in a future version of MATLAB
% handles structure with handles and user data (see GUIDATA)
sprintf('Not yet implemented')
% --- Executes on button press in runButton.
function runButton_Callback(hObject, eventdata, handles)
% hObject handle to runButton (see GCBO)
@ -147,6 +145,7 @@ function runButton_Callback(hObject, eventdata, handles)
% handles structure with handles and user data (see GUIDATA)
sprintf('Not yet implemented')
% --- Executes on button press in stopButton.
function stopButton_Callback(hObject, eventdata, handles)
% hObject handle to stopButton (see GCBO)
@ -194,8 +193,7 @@ function numCamEdit_Callback(hObject, eventdata, handles)
% str2double(get(hObject,'String')) returns contents of numCamEdit as a double
VisualISAMGlobalVars
NCAMERAS = str2num(get(hObject,'String')) ;
VisualISAMGenerateData
VisualISAMInitialize
% --- Executes during object creation, after setting all properties.
function numCamEdit_CreateFcn(hObject, eventdata, handles)