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

Fix the example data reading, 

but KittiGps_metadata.txt, KittiRelativePose_metadata.txt, KittiRelativePose.txt don't exists in gtsam/examples/data directory
release/4.3a0
lvzhaoyang 2014-12-07 00:29:30 -05:00
parent 924a8d6670
commit fa4bfbfbc5
1 changed files with 5 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
matlab/unstable_examples/IMUKittiExampleAdvanced.m
View File

@ -7,7 +7,7 @@ disp('Example of application of ISAM2 for visual-inertial navigation on the KITT
%% Read metadata and compute relative sensor pose transforms %% Read metadata and compute relative sensor pose transforms
% IMU metadata % IMU metadata
disp('-- Reading sensor metadata') disp('-- Reading sensor metadata')
IMU_metadata = importdata('KittiEquivBiasedImu_metadata.txt'); IMU_metadata = importdata(findExampleDataFile('KittiEquivBiasedImu_metadata.txt'));
IMU_metadata = cell2struct(num2cell(IMU_metadata.data), IMU_metadata.colheaders, 2); IMU_metadata = cell2struct(num2cell(IMU_metadata.data), IMU_metadata.colheaders, 2);
IMUinBody = Pose3.Expmap([IMU_metadata.BodyPtx; IMU_metadata.BodyPty; IMU_metadata.BodyPtz; IMUinBody = Pose3.Expmap([IMU_metadata.BodyPtx; IMU_metadata.BodyPty; IMU_metadata.BodyPtz;
IMU_metadata.BodyPrx; IMU_metadata.BodyPry; IMU_metadata.BodyPrz; ]); IMU_metadata.BodyPrx; IMU_metadata.BodyPry; IMU_metadata.BodyPrz; ]);
@ -16,14 +16,14 @@ if ~IMUinBody.equals(Pose3, 1e-5)
end end
% VO metadata % VO metadata
VO_metadata = importdata('KittiRelativePose_metadata.txt'); VO_metadata = importdata(findExampleDataFile('KittiRelativePose_metadata.txt'));
VO_metadata = cell2struct(num2cell(VO_metadata.data), VO_metadata.colheaders, 2); VO_metadata = cell2struct(num2cell(VO_metadata.data), VO_metadata.colheaders, 2);
VOinBody = Pose3.Expmap([VO_metadata.BodyPtx; VO_metadata.BodyPty; VO_metadata.BodyPtz; VOinBody = Pose3.Expmap([VO_metadata.BodyPtx; VO_metadata.BodyPty; VO_metadata.BodyPtz;
VO_metadata.BodyPrx; VO_metadata.BodyPry; VO_metadata.BodyPrz; ]); VO_metadata.BodyPrx; VO_metadata.BodyPry; VO_metadata.BodyPrz; ]);
VOinIMU = IMUinBody.inverse().compose(VOinBody); VOinIMU = IMUinBody.inverse().compose(VOinBody);
% GPS metadata % GPS metadata
GPS_metadata = importdata('KittiGps_metadata.txt'); GPS_metadata = importdata(findExampleDataFile('KittiGps_metadata.txt'));
GPS_metadata = cell2struct(num2cell(GPS_metadata.data), GPS_metadata.colheaders, 2); GPS_metadata = cell2struct(num2cell(GPS_metadata.data), GPS_metadata.colheaders, 2);
GPSinBody = Pose3.Expmap([GPS_metadata.BodyPtx; GPS_metadata.BodyPty; GPS_metadata.BodyPtz; GPSinBody = Pose3.Expmap([GPS_metadata.BodyPtx; GPS_metadata.BodyPty; GPS_metadata.BodyPtz;
GPS_metadata.BodyPrx; GPS_metadata.BodyPry; GPS_metadata.BodyPrz; ]); GPS_metadata.BodyPrx; GPS_metadata.BodyPry; GPS_metadata.BodyPrz; ]);
@ -32,7 +32,7 @@ GPSinIMU = IMUinBody.inverse().compose(GPSinBody);
%% Read data and change coordinate frame of GPS and VO measurements to IMU frame %% Read data and change coordinate frame of GPS and VO measurements to IMU frame
disp('-- Reading sensor data from file') disp('-- Reading sensor data from file')
% IMU data % IMU data
IMU_data = importdata('KittiEquivBiasedImu.txt'); IMU_data = importdata(findExampleDataFile('KittiEquivBiasedImu.txt'));
IMU_data = cell2struct(num2cell(IMU_data.data), IMU_data.colheaders, 2); IMU_data = cell2struct(num2cell(IMU_data.data), IMU_data.colheaders, 2);
imum = cellfun(@(x) x', num2cell([ [IMU_data.accelX]' [IMU_data.accelY]' [IMU_data.accelZ]' [IMU_data.omegaX]' [IMU_data.omegaY]' [IMU_data.omegaZ]' ], 2), 'UniformOutput', false); imum = cellfun(@(x) x', num2cell([ [IMU_data.accelX]' [IMU_data.accelY]' [IMU_data.accelZ]' [IMU_data.omegaX]' [IMU_data.omegaY]' [IMU_data.omegaZ]' ], 2), 'UniformOutput', false);
[IMU_data.acc_omega] = deal(imum{:}); [IMU_data.acc_omega] = deal(imum{:});
@ -40,7 +40,7 @@ imum = cellfun(@(x) x', num2cell([ [IMU_data.accelX]' [IMU_data.accelY]' [IMU_da
clear imum clear imum
% VO data % VO data
VO_data = importdata('KittiRelativePose.txt'); VO_data = importdata(findExampleDataFile('KittiRelativePose.txt'));
VO_data = cell2struct(num2cell(VO_data.data), VO_data.colheaders, 2); VO_data = cell2struct(num2cell(VO_data.data), VO_data.colheaders, 2);
% Merge relative pose fields and convert to Pose3 % Merge relative pose fields and convert to Pose3
logposes = [ [VO_data.dtx]' [VO_data.dty]' [VO_data.dtz]' [VO_data.drx]' [VO_data.dry]' [VO_data.drz]' ]; logposes = [ [VO_data.dtx]' [VO_data.dty]' [VO_data.dtz]' [VO_data.drx]' [VO_data.dry]' [VO_data.drz]' ];