52 lines
1.4 KiB
Matlab
52 lines
1.4 KiB
Matlab
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
% GTSAM Copyright 3510, Georgia Tech Research Corporation,
|
|
% Atlanta, Georgia 30332-0415
|
|
% All Rights Reserved
|
|
% Authors: Frank Dellaert, et al. (see THANKS for the full author list)
|
|
%
|
|
% See LICENSE for the license information
|
|
%
|
|
% @brief A simple visual SLAM example for structure from motion
|
|
% @author Duy-Nguyen Ta
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
|
|
%% Global variables used in VisualISAMExample
|
|
global TRIANGLE NCAMERAS SHOW_IMAGES
|
|
global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE
|
|
global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES
|
|
global SAVE_FIGURES SAVE_GRAPHS
|
|
|
|
%% Setting data options
|
|
TRIANGLE = true;
|
|
NCAMERAS = 10;
|
|
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 = false;
|
|
DRAW_INTERVAL = 5;
|
|
CAMERA_INTERVAL = 1;
|
|
DRAW_TRUE_POSES = false;
|
|
SAVE_FIGURES = false;
|
|
SAVE_GRAPHS = false;
|
|
|
|
%% Generate data and initialize iSAM with the first pose and points
|
|
VisualISAMGenerateData
|
|
VisualISAMInitialize
|
|
figure;
|
|
VisualISAMPlot
|
|
|
|
%% Main loop for iSAM: stepping through all poses
|
|
for frame_i=2:NCAMERAS
|
|
VisualISAMStep
|
|
if mod(frame_i,DRAW_INTERVAL)==0
|
|
VisualISAMPlot
|
|
end
|
|
end |