28 lines
766 B
Matlab
28 lines
766 B
Matlab
VisualISAMGlobalVars
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%% Initialize iSAM
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isam = visualSLAMISAM(REORDER_INTERVAL);
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newFactors = visualSLAMGraph;
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initialEstimates = visualSLAMValues;
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i1 = symbol('x',1);
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camera1 = cameras{1};
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pose1 = camera1.pose;
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if HARD_CONSTRAINT % add hard constraint
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newFactors.addPoseConstraint(i1,pose1);
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else
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newFactors.addPosePrior(i1,pose1, poseNoise);
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end
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initialEstimates.insertPose(i1,pose1);
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% Add visual measurement factors from first pose
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for j=1:nPoints
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jj = symbol('l',j);
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if POINT_PRIORS % add point priors
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newFactors.addPointPrior(jj, points{j}, pointNoise);
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end
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zij = camera1.project(points{j});
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newFactors.addMeasurement(zij, measurementNoise, i1, jj, K);
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initialEstimates.insertPoint(jj, points{j});
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end
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frame_i = 1
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cla; |