43 lines
1.3 KiB
Matlab
43 lines
1.3 KiB
Matlab
VisualISAMGlobalVars
|
|
|
|
%% Add odometry
|
|
newFactors.addOdometry(symbol('x',frame_i-1), symbol('x',frame_i), odometry, odometryNoise);
|
|
|
|
%% Add visual measurement factors
|
|
for j=1:nPoints
|
|
zij = cameras{frame_i}.project(points{j});
|
|
newFactors.addMeasurement(zij, measurementNoise, symbol('x',frame_i), symbol('l',j), K);
|
|
end
|
|
|
|
%% Initial estimates for the new pose. Also initialize points while in the first frame.
|
|
%TODO: this might be suboptimal since "result" is not the fully optimized result
|
|
if (frame_i==2), prevPose = cameras{1}.pose;
|
|
else, prevPose = result.pose(symbol('x',frame_i-1)); end
|
|
initialEstimates.insertPose(symbol('x',frame_i), prevPose.compose(odometry));
|
|
|
|
%% Update ISAM
|
|
if BATCH_INIT & (frame_i==2) % Do a full optimize for first two poses
|
|
initialEstimates
|
|
fullyOptimized = newFactors.optimize(initialEstimates)
|
|
initialEstimates = fullyOptimized;
|
|
end
|
|
% figure(1);tic;
|
|
isam.update(newFactors, initialEstimates);
|
|
% t=toc; plot(frame_i,t,'r.'); tic
|
|
result = isam.estimate();
|
|
% t=toc; plot(frame_i,t,'g.');
|
|
if ALWAYS_RELINEARIZE % re-linearize
|
|
isam.reorder_relinearize();
|
|
end
|
|
|
|
|
|
if SAVE_GRAPH
|
|
isam.saveGraph(sprintf('VisualiSAM.dot',frame_i));
|
|
end
|
|
if PRINT_STATS
|
|
isam.printStats();
|
|
end
|
|
|
|
%% Reset newFactors and initialEstimates to prepare for the next update
|
|
newFactors = visualSLAMGraph;
|
|
initialEstimates = visualSLAMValues; |