121 lines
3.3 KiB
Matlab
121 lines
3.3 KiB
Matlab
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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% GTSAM Copyright 2010, Georgia Tech Research Corporation,
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% Atlanta, Georgia 30332-0415
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% All Rights Reserved
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% Authors: Frank Dellaert, et al. (see THANKS for the full author list)
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%
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% See LICENSE for the license information
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%
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% @brief Read graph from file and perform GraphSLAM
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% @author Frank Dellaert
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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clear all;
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clc;
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import gtsam.*
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%% generate some landmarks
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nrPoints = 8;
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landmarks = {Point3([20 15 1]'),...
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Point3([22 7 1]'),...
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Point3([20 20 6]'),...
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Point3([24 19 4]'),...
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Point3([26 17 2]'),...
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Point3([12 15 4]'),...
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Point3([25 11 6]'),...
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Point3([23 10 4]')};
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fg = NonlinearFactorGraph;
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fg.add(NonlinearEqualityPose3(1, Pose3()));
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initial = Values;
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%% intial landmarks and camera trajectory shifted in + y-direction
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y_shift = Point3(0,1,0);
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% insert shifted points
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for i=1:nrPoints
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initial.insert(100+i,landmarks{i}.compose(y_shift));
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end
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figure(1);
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cla
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hold on;
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plot3DPoints(initial);
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%% Actual camera translation coincides with odometry, but -90deg Z-X rotation
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camera_transform = Pose3(Rot3.RzRyRx(-pi/2, 0, -pi/2),y_shift);
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actual_transform = Pose3(Rot3.RzRyRx(-pi/2, 0, -pi/2),Point3());
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initial.insert(1000,camera_transform);
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%% insert poses
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initial.insert(1, Pose3());
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move_forward = Pose3(Rot3(),Point3(1,0,0));
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move_circle = Pose3(Rot3.RzRyRx(0.0,0.0,0.2),Point3(1,0,0));
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covariance = noiseModel.Diagonal.Sigmas([5*pi/180; 5*pi/180; 5*pi/180; 0.05; 0.05; 0.05]);
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z_cov = noiseModel.Diagonal.Sigmas([1.0;1.0]);
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K = Cal3_S2(900,900,0,640,480);
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cheirality_exception_count = 0;
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for i=1:20
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if i > 1
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if i < 11
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initial.insert(i,initial.atPose3(i-1).compose(move_forward));
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fg.add(BetweenFactorPose3(i-1,i, move_forward, covariance));
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else
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initial.insert(i,initial.atPose3(i-1).compose(move_circle));
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fg.add(BetweenFactorPose3(i-1,i, move_circle, covariance));
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end
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end
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% generate some camera measurements
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cam_pose = initial.atPose3(i).compose(actual_transform);
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gtsam.plotPose3(cam_pose);
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cam = PinholeCameraCal3_S2(cam_pose,K);
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i
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for j=1:nrPoints
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% All landmarks seen in every frame
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try
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z = cam.project(landmarks{j});
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fg.add(TransformProjectionFactorCal3_S2(z, z_cov, i, 1000, 100+j, K));
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catch
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cheirality_exception_count = cheirality_exception_count + 1;
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end % end try/catch
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end
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end
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fprintf('Cheirality Exception count: %d\n', cheirality_exception_count);
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% plot3DTrajectory(initial, 'g-*');
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%% camera plotting
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for i=1:20
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gtsam.plotPose3(initial.atPose3(i).compose(camera_transform));
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end
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xlabel('x (m)');
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ylabel('y (m)');
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disp('Transform before optimization');
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initial.atPose3(1000)
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params = LevenbergMarquardtParams;
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params.setAbsoluteErrorTol(1e-15);
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params.setRelativeErrorTol(1e-15);
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params.setVerbosity('ERROR');
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params.setVerbosityLM('VERBOSE');
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optimizer = LevenbergMarquardtOptimizer(fg, initial, params);
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result = optimizer.optimizeSafely();
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disp('Transform after optimization');
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result.atPose3(1000) % results is empty here. optimizer doesn't generate result?
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axis([0 25 0 25 0 10]);
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axis equal
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view(-37,40)
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