15 lines
613 B
Matlab
15 lines
613 B
Matlab
% VisualISAMDemo: runs VisualSLAM iSAM demo in a GUI
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% Authors: Duy Nguyen Ta
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% Make sure global variables are visible on command prompt
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% so you can examine how they change as you step through
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global TRIANGLE NCAMERAS SHOW_IMAGES
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global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE
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global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES
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global SAVE_FIGURES SAVE_GRAPHS SHOW_TIMING
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global points K cameras odometry
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global poseNoise pointNoise odometryNoise measurementNoise
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global frame_i isam newFactors initialEstimates result
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% Start GUI
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VisualISAM_gui |