59 lines
1.4 KiB
Matlab
59 lines
1.4 KiB
Matlab
clear all;
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clc;
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import gtsam.*
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%% generate a set of cylinders and Samples
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fieldSize = Point2([100, 100]');
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cylinder_num = 10;
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cylinders = cell(cylinder_num, 1);
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for i = 1:cylinderNum
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baseCentroid = Point2([fieldSize.x * rand, fieldSize.y * rand]');
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cylinders{i,1} = cylinderSampling(baseCentroid, 1, 5, 1);
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end
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%% plot all the cylinders and sampled points
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% now is plotting on a 100 * 100 field
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figID = 1;
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figure(figID);
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plotCylinderSamples(cylinders, fieldSize, figID);
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%% generate camera trajectories
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K = Cal3_S2(525,525,0,320,240);
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imageSize = Point2([640, 480]');
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poseNum = 10;
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cameras = cell(poseNum, 1);
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trans = Point3();
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% To ensure there are landmarks in view, look at one randomly chosen cylinder
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% each time.
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for i = 1:poseNum
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camera = SimpleCamera.Lookat(trans, cylinders{round(cylinderNum*rand)}.centroid, ...
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Point3([0,0,1]'), K);
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incT = Point3(5*rand, 5*rand, 5*rand);
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trans = trans.compose(incT);
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end
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%% visibility validation
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visiblePoints3 = cylinderSampleProjection(camera, imageSize, cylinders);
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%% plot all the projected points
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%plotProjectedCylinderSamples(visiblePoints3, cameraPoses{1}, figID);
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%% setp up monocular camera and get measurements
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pts2dTracksMono = points2DTrackMonocular(K, cameraPoses, imageSize, cylinders);
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%% set up stereo camera and get measurements
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%pts2dTracksStereo = points2DTrackStereo(K, cameraPoses, imageSize, cylinders);
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% ToDo: plot the trajectories
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%plot3DTrajectory();
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