52 lines
1.4 KiB
Matlab
52 lines
1.4 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 A simple visual SLAM example for structure from motion
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% @author Duy-Nguyen Ta
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
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%% Global variables used in VisualISAMExample
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global TRIANGLE NCAMERAS SHOW_IMAGES
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global HARD_CONSTRAINT POINT_PRIORS BATCH_INIT REORDER_INTERVAL ALWAYS_RELINEARIZE
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global SAVE_GRAPH PRINT_STATS DRAW_INTERVAL CAMERA_INTERVAL DRAW_TRUE_POSES
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global SAVE_FIGURES SAVE_GRAPHS
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%% Setting data options
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TRIANGLE = false;
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NCAMERAS = 20;
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SHOW_IMAGES = false;
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%% iSAM Options
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HARD_CONSTRAINT = false;
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POINT_PRIORS = false;
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BATCH_INIT = true;
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REORDER_INTERVAL = 10;
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ALWAYS_RELINEARIZE = false;
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%% Display Options
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SAVE_GRAPH = false;
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PRINT_STATS = false;
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DRAW_INTERVAL = 5;
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CAMERA_INTERVAL = 1;
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DRAW_TRUE_POSES = false;
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SAVE_FIGURES = false;
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SAVE_GRAPHS = false;
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%% Generate data and initialize iSAM with the first pose and points
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VisualISAMGenerateData
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VisualISAMInitialize
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figure;
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VisualISAMPlot
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%% Main loop for iSAM: stepping through all poses
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for frame_i=2:NCAMERAS
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VisualISAMStep
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if mod(frame_i,DRAW_INTERVAL)==0
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VisualISAMPlot
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end
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end |