83 lines
2.6 KiB
Matlab
83 lines
2.6 KiB
Matlab
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
% GTSAM Copyright 2010, 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 Read Stereo Visual Odometry from file and optimize
|
|
% @author Chris Beall
|
|
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
|
|
|
|
%% Load calibration
|
|
% format: fx fy skew cx cy baseline
|
|
calib = dlmread('../../examples/Data/VO_calibration.txt');
|
|
K = gtsamCal3_S2Stereo(calib(1), calib(2), calib(3), calib(4), calib(5), calib(6));
|
|
stereo_model = gtsamSharedNoiseModel_Sigmas([1.0; 1.0; 1.0]);
|
|
|
|
%% create empty graph and values
|
|
graph = visualSLAMGraph;
|
|
initial = visualSLAMValues;
|
|
|
|
|
|
%% load the initial poses from VO
|
|
% row format: camera_id 4x4 pose (row, major)
|
|
fprintf(1,'Reading data\n');
|
|
cameras = dlmread('../../examples/Data/VO_camera_poses_large.txt');
|
|
for i=1:size(cameras,1)
|
|
pose = gtsamPose3(reshape(cameras(i,2:17),4,4)');
|
|
initial.insertPose(symbol('x',cameras(i,1)),pose);
|
|
end
|
|
|
|
%% load stereo measurements and initialize landmarks
|
|
% camera_id landmark_id uL uR v X Y Z
|
|
measurements = dlmread('../../examples/Data/VO_stereo_factors_large.txt');
|
|
|
|
fprintf(1,'Creating Graph\n'); tic
|
|
for i=1:size(measurements,1)
|
|
sf = measurements(i,:);
|
|
graph.addStereoMeasurement(gtsamStereoPoint2(sf(3),sf(4),sf(5)), stereo_model, ...
|
|
symbol('x', sf(1)), symbol('l', sf(2)), K);
|
|
|
|
if ~initial.exists(symbol('l',sf(2)))
|
|
% 3D landmarks are stored in camera coordinates: transform
|
|
% to world coordinates using the respective initial pose
|
|
pose = initial.pose(symbol('x', sf(1)));
|
|
world_point = pose.transform_from(gtsamPoint3(sf(6),sf(7),sf(8)));
|
|
initial.insertPoint(symbol('l',sf(2)), world_point);
|
|
end
|
|
end
|
|
toc
|
|
|
|
%% add a constraint on the starting pose
|
|
key = symbol('x',1);
|
|
first_pose = initial.pose(key);
|
|
graph.addPoseConstraint(key, first_pose);
|
|
|
|
%% optimize
|
|
fprintf(1,'Optimizing\n'); tic
|
|
result = graph.optimize(initial);
|
|
toc
|
|
|
|
%% visualize initial trajectory, final trajectory, and final points
|
|
figure(1); clf; hold on;
|
|
|
|
% initial trajectory in red (rotated so Z is up)
|
|
plot3(initial.zs(),-initial.xs(),-initial.ys(), '-*r','LineWidth',2);
|
|
|
|
% final trajectory in green (rotated so Z is up)
|
|
plot3(result.zs(),-result.xs(),-result.ys(), '-*g','LineWidth',2);
|
|
xlabel('X (m)'); ylabel('Y (m)'); zlabel('Z (m)');
|
|
|
|
% switch to XZ view
|
|
view([0 0]);
|
|
|
|
% optimized 3D points (rotated so Z is up)
|
|
points = result.points();
|
|
plot3(points(:,3),-points(:,1),-points(:,2),'.');
|
|
|
|
axis([0 100 -20 20 -5 20]);
|
|
axis equal
|
|
view(3)
|