56 lines
1.7 KiB
Matlab
56 lines
1.7 KiB
Matlab
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% GTSAM Copyright 2010, Georgia Tech Research Corporation,
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% Atlanta, Georgia 30332-0415
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% All Rights Reserved
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% Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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%
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% See LICENSE for the license information
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%
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% @brief A simple visual SLAM example for structure from motion
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% @author Duy-Nguyen Ta
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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import gtsam.*
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% Data Options
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options.triangle = false;
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options.nrCameras = 20;
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options.showImages = false;
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% iSAM Options
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options.hardConstraint = false;
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options.pointPriors = false;
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options.batchInitialization = true;
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options.reorderInterval = 10;
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options.alwaysRelinearize = false;
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% Display Options
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options.saveDotFile = false;
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options.printStats = false;
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options.drawInterval = 5;
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options.cameraInterval = 1;
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options.drawTruePoses = false;
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options.saveFigures = false;
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options.saveDotFiles = false;
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%% Generate data
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[data,truth] = VisualISAMGenerateData(options);
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%% Initialize iSAM with the first pose and points
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[noiseModels,isam,result,nextPose] = VisualISAMInitialize(data,truth,options);
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%% Main loop for iSAM: stepping through all poses
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for frame_i=3:options.nrCameras
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[isam,result,nextPose] = VisualISAMStep(data,noiseModels,isam,result,truth,nextPose);
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end
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for i=1:size(truth.cameras,2)
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pose_i = result.atPose3(symbol('x',i));
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CHECK('pose_i.equals(truth.cameras{i}.pose,1e-5)',pose_i.equals(truth.cameras{i}.pose,1e-5))
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end
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for j=1:size(truth.points,2)
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point_j = result.atPoint3(symbol('l',j));
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CHECK('point_j.equals(truth.points{j},1e-5)',norm(point_j - truth.points{j}) < 1e-5)
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end
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