63 lines
2.1 KiB
Matlab
63 lines
2.1 KiB
Matlab
function [noiseModels,isam,result] = VisualInitialize(data,options)
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% VisualInitialize: initialize visualSLAM::iSAM object and noise parameters
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% Authors: Duy Nguyen Ta and Frank Dellaert
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%% Initialize iSAM
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isam = visualSLAMISAM(options.reorderInterval);
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%% Set Noise parameters
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noiseModels.pose = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
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noiseModels.odometry = gtsamSharedNoiseModel_Sigmas([0.001 0.001 0.001 0.1 0.1 0.1]');
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noiseModels.point = gtsamSharedNoiseModel_Sigma(3, 0.1);
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noiseModels.measurement = gtsamSharedNoiseModel_Sigma(2, 1.0);
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%% Add constraints/priors
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newFactors = visualSLAMGraph;
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initialEstimates = visualSLAMValues;
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for frame_i=1:2
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ii = symbol('x',frame_i);
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if frame_i==1 & options.hardConstraint % add hard constraint
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newFactors.addPoseConstraint(ii,data.cameras{1}.pose);
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else
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newFactors.addPosePrior(ii,data.cameras{frame_i}.pose, noiseModels.pose);
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end
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% TODO: init should not be from ground truth!
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initialEstimates.insertPose(ii,data.cameras{frame_i}.pose);
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end
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%% Add visual measurement factors from two first poses
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for frame_i=1:2
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ii = symbol('x',frame_i);
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for j=1:size(data.points,2)
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jj = symbol('l',j);
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zij = data.cameras{frame_i}.project(data.points{j});
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newFactors.addMeasurement(zij, noiseModels.measurement, ii, jj, data.K);
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end
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end
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%% Initialize points, possibly add priors on them
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for j=1:size(data.points,2)
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jj = symbol('l',j);
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if options.pointPriors % add point priors
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newFactors.addPointPrior(jj, data.points{j}, noiseModels.point);
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end
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initialEstimates.insertPoint(jj, data.points{j}); % TODO: should not be from ground truth!
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end
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%% Update ISAM
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if options.batchInitialization % Do a full optimize for first two poses
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fullyOptimized = newFactors.optimize(initialEstimates);
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isam.update(newFactors, fullyOptimized);
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else
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isam.update(newFactors, initialEstimates);
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end
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% figure(1);tic;
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% t=toc; plot(frame_i,t,'r.'); tic
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result = isam.estimate();
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% t=toc; plot(frame_i,t,'g.');
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if options.alwaysRelinearize % re-linearize
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isam.reorder_relinearize();
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end
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cla; |