plateform stringclasses 1
value | repo_name stringlengths 13 113 | name stringlengths 3 74 | ext stringclasses 1
value | path stringlengths 12 229 | size int64 23 843k | source_encoding stringclasses 9
values | md5 stringlengths 32 32 | text stringlengths 23 843k |
|---|---|---|---|---|---|---|---|---|
github | rising-turtle/slam_matlab-master | fitline3d.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/fitline3d.m | 1,200 | utf_8 | 3ca7a782577d8447e17c36ccf25f3d59 | % FITLINE3D - Fits a line to a set of 3D points
%
% Usage: [L] = fitline3d(XYZ)
%
% Where: XYZ - 3xNpts array of XYZ coordinates
% [x1 x2 x3 ... xN;
% y1 y2 y3 ... yN;
% z1 z2 z3 ... zN]
%
% Returns: L - 3x2 matrix consisting of the two endpoints of the line
% ... |
github | rising-turtle/slam_matlab-master | ransac_plane.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/ransac_plane.m | 9,877 | utf_8 | 6161d8cc1a602a9c2796433f55d7b6dd | % RANSAC - Robustly fits a model to data with the RANSAC algorithm
%
% Usage:
%
% [M, inliers] = ransac(x, fittingfn, distfn, degenfn s, t, feedback, ...
% maxDataTrials, maxTrials)
%
% Arguments:
% x - Data sets to which we are seeking to fit a model M
% It is assumed ... |
github | rising-turtle/slam_matlab-master | Kabsch.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/Kabsch.m | 22,003 | utf_8 | d9ea79a024f3c2dd185841ba44642f29 |
<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd">
<html lang="en">
<head>
<meta http-equiv="X-UA-Compatible" content="IE=8" />
<script type="text/javascript" src="/includes_content/nextgen/scripts/jquery/jquery-latest.js"></script>
... |
github | rising-turtle/slam_matlab-master | fitplane.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/fitplane.m | 1,694 | utf_8 | a058a2453754cff9ea42776f1034436a | % FITPLANE - solves coefficients of plane fitted to 3 or more points
%
% Usage: B = fitplane(XYZ)
%
% Where: XYZ - 3xNpts array of xyz coordinates to fit plane to.
% If Npts is greater than 3 a least squares solution
% is generated.
%
% Returns: B - 4x1 array of plane coefficient... |
github | rising-turtle/slam_matlab-master | iscolinear.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/iscolinear.m | 2,318 | utf_8 | 65025b7413f8f6b4cb16dd1689a5900f | % ISCOLINEAR - are 3 points colinear
%
% Usage: r = iscolinear(p1, p2, p3, flag)
%
% Arguments:
% p1, p2, p3 - Points in 2D or 3D.
% flag - An optional parameter set to 'h' or 'homog'
% indicating that p1, p2, p3 are homogneeous
% coordinates with arbitrary s... |
github | rising-turtle/slam_matlab-master | testfitplane.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/testfitplane.m | 3,367 | utf_8 | 422156cc86a4f56b427ec295e9306b63 | % TESTFITPLANE - demonstrates RANSAC plane fitting
%
% Usage: testfitplane(outliers, sigma, t, feedback)
%
% Arguments:
% outliers - Fraction specifying how many points are to be
% outliers.
% sigma - Standard deviation of inlying points from the
% ... |
github | rising-turtle/slam_matlab-master | ransacfitplane.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/ransacfitplane.m | 4,285 | utf_8 | 3a8b352c171a4ca6acb11d45a6c10caf | % RANSACFITPLANE - fits plane to 3D array of points using RANSAC
%
% Usage [B, P, inliers] = ransacfitplane(XYZ, t, feedback)
%
% This function uses the RANSAC algorithm to robustly fit a plane
% to a set of 3D data points.
%
% Arguments:
% XYZ - 3xNpts array of xyz coordinates to fit plane to.
% t ... |
github | rising-turtle/slam_matlab-master | evaluate_result.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/evaluate_result.m | 1,659 | utf_8 | e5ce33520dfb03572fe195820d79fe85 | function evaluate_result
% de_y = get_y_error();
% fe = get_final_error();
[de_y,fe,fe_norm,fe_perecent,ye_percent,path] = get_error()
end
function [de_y,fe,fe_norm,fe_perecent,ye_percent,path] = get_error()
legend('off')
grid off
axis off
h = gcf;
axesObjs = get(h, 'Children');
dataObjs = get(axesObjs(1), 'Children')... |
github | rising-turtle/slam_matlab-master | test_the_effect_of_orinetation_.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/test_the_effect_of_orinetation_.m | 3,784 | utf_8 | 080623a148f01b9929a71b510bfa1461 | function [angle1,angle2,angle3,xx,trajectory,cov_info]=test_the_effect_of_orinetation_(snapshot_step,h_figure)
config_file_for_orientation
global myCONFIG
% create_step_in_source(2500)
if nargin==0
close all
snapshot_step = 700
h_figure = figure
end
VRO_result_file = [myCONFIG.PATH.SOURCE_FOLDER,'VRO_resul... |
github | rising-turtle/slam_matlab-master | scrollplot.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/scrollplot.m | 59,195 | utf_8 | 224671d57c562973a15b560590589614 | function scrollHandles = scrollplot(varargin)
%SCROLLPLOT add scroll sub-window to the supplied plot handle
%
% scrollplot adds a scroll sub-window to any supplied plot handle(s).
% The user may specify initial view window parameters or use defaults.
% Dragging the side-bars or central patch modifies the respecti... |
github | rising-turtle/slam_matlab-master | plotframe.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/plotframe.m | 1,677 | utf_8 | 40c9bb130ec46ca33912f804e87f2eac | % PLOTFRAME - plots a coordinate frame specified by a homogeneous transform
%
% Usage: function plotframe(T, len, label)
%
% Arguments:
% T - 4x4 homogeneous transform
% len - length of axis arms to plot (defaults to 1)
% label - text string to append to x,y,z labels on axes
%
% len and label are optio... |
github | rising-turtle/slam_matlab-master | compensate_badpixel_soonhac.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/compensate_badpixel_soonhac.m | 2,255 | utf_8 | c10f2a65debeca406e3c75b955e4e84c | % Compenstate the bad pixel with low confidence by median filter
% Date : 3/13/12
% Author : Soonhac Hong (sxhong1@ualr.edu)
function [img, x, y, z, c] = compensate_badpixel_soonhac(img, x, y, z, c, confidence_cut_off)
e_index = c < confidence_cut_off;
x_median=medfilt2(x, [3 3],'symmetric');
y_median=medfilt2(y, [3 3... |
github | rising-turtle/slam_matlab-master | fn_structdisp.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/fn_structdisp.m | 2,279 | utf_8 | 7abee2d7e63975b016be8f923567bc05 | function fn_structdisp(Xname)
% function fn_structdisp Xname
% function fn_structdisp(X)
%---
% Recursively display the content of a structure and its sub-structures
%
% Input:
% - Xname/X one can give as argument either the structure to display or
% or a string (the name in the current workspace of t... |
github | rising-turtle/slam_matlab-master | cov_pose_shift_calc.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/cov_pose_shift_calc.m | 1,718 | utf_8 | 6f51efd75828bc2370303048442bade9 | function cov_pose_shift = cov_pose_shift_calc(Ya,Yb,R,T)
q_ab = R2q(R);
cov_pose_shift = zeros(7,7);
for i=1:size(Ya,2)
f_p = Ya(:,i);
f_n = Yb(:,i);
% cov_f_p = calc_cov_point(f_p);
% cov_f_n = calc_cov_point(f_n);
d2E_dX2_value = d2E_dX2_4cov(f_p,f_n,q_ab,T);
d2E_dFdX_value = [d2E_dfp_dX_4cov(... |
github | rising-turtle/slam_matlab-master | test_orientation_observation.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/test_orientation_observation.m | 3,049 | utf_8 | ce9f7def042bcd152cd6df91afcdd3b9 | function com_error = test_orientation_observation(snap_step)
global myCONFIG
config_file
% snap_step =1;
[x_k_k,p_k_k,q_expected] = read_snapshot(snap_step)
[T,q,R,varargout]=Calculate_V_Omega_RANSAC_dr_ye(snap_step-1,snap_step)
com_error = calc_orientation_error(x_k_k,snap_step,q_expected);
R_expected = q2R(q_expec... |
github | rising-turtle/slam_matlab-master | dispMEq.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/drawLA/dispMEq.m | 8,277 | utf_8 | 1e3bbf518742830f3c041b1d1c5c171b | function dispMEq(eq, varargin)
% Formatted display of a matrix equation
%
% Usage: dispEq(eq, arg)
% dispEq(eq, arg1, arg2, ...)
% dispEq(eq, arg1, arg2, ..., 'PropertyName', PropertyValue)
%
% INPUT:
% eq - character string defining a matrix equation, e.g., 'A*x=b'
% allowed ar... |
github | rising-turtle/slam_matlab-master | drawCircle.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/drawLA/drawCircle.m | 3,103 | utf_8 | 488a37088332d5ce21c6b8df98889e42 | function drawCircle(varargin)
% Draw circle(s) in the xy-plane.
%
% Usage: drawCircle
% drawCircle(xc,yc,r)
% drawCircle(xc,yc,r, 'lType')
%
% INPUT:
% (optional)
% xc,yc - n-by-m matrices with (x,y) coordinates of the center(s)
% of n*m circles. Default: (0, 0).
% r - ei... |
github | rising-turtle/slam_matlab-master | efficient_pnp_gauss.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/EPnP_matlab/EPnP/efficient_pnp_gauss.m | 7,985 | utf_8 | 361396729ae9c9291df547c60c062e74 | function [R,T,Xc,best_solution,opt]=efficient_pnp_gauss(x3d_h,x2d_h,A)
% EFFICIENT_PNP_GAUSS Main Function to solve the PnP problem
% as described in:
%
% Francesc Moreno-Noguer, Vincent Lepetit, Pascal Fua.
% Accurate Non-Iterative O(n) Solution to the PnP Problem.
% In Proceedings of ICCV, ... |
github | rising-turtle/slam_matlab-master | efficient_pnp.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/EPnP_matlab/EPnP/efficient_pnp.m | 6,550 | utf_8 | b1b02989deb052da7480f60d06be7010 | function [R,T,Xc,best_solution]=efficient_pnp(x3d_h,x2d_h,A)
% EFFICIENT_PNP Main Function to solve the PnP problem
% as described in:
%
% Francesc Moreno-Noguer, Vincent Lepetit, Pascal Fua.
% Accurate Non-Iterative O(n) Solution to the PnP Problem.
% In Proceedings of ICCV, 2007.
%
% ... |
github | rising-turtle/slam_matlab-master | robust_dls_pnp.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/dls_pnp_matlab/robust_dls_pnp.m | 956 | utf_8 | 884e74eace41c8ba00c468ea725dca02 | function [C_est, t_est, cost, flag] = robust_dls_pnp(p, z)
R = cat(3, rotx(pi/2), roty(pi/2), rotz(pi/2));
t = mean(p,2);
cost = inf;
for i = 1:3
% Make a random rotation
pp = R(:,:,i) * (p - repmat(t, 1, size(p,2)));
[C_est_i, t_est_i, cost_i, flag_i] = dls_pnp(pp, z);
for j = 1:length(co... |
github | rising-turtle/slam_matlab-master | rws.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/dls_pnp_matlab/rws.m | 1,946 | utf_8 | 24dabc05143cbf2c126ab352eb83b32f | function [C, t, p, z] = rws(N, sigma)
% this function generates a random camera pose, along with N random points,
% and also the perspective projections of those points.
% Generate a random global-to-camera rotation. This is the orientation of
% the global frame expressed in the camera frame of refence.
angle = 15;
... |
github | rising-turtle/slam_matlab-master | dls_pnp.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/dls_pnp_matlab/dls_pnp.m | 52,158 | utf_8 | d6e96e3b74cc29c6f5ddd01bbdb2e1eb | function [C_est, t_est, cost, flag] = dls_pnp(p, z)
% DLS-PnP:
%
% This function performs the DLS-PnP method introduced at ICCV 2011
% Joel A. Hesch and Stergios I. Roumeliotis. "A direct least-squares (dls)
% solution for PnP". In Proc. of the Int. Conf. on Computer Vision,
% Barcelona, Spain, November 6-13, 2011.
... |
github | rising-turtle/slam_matlab-master | compute_error.m | .m | slam_matlab-master/libs_dir/plane_fitting_code/all/dls_pnp_matlab/compute_error.m | 1,320 | utf_8 | 9661477a57e8c1cd36f99c33566fb9ba | function [da, dt] = compute_error(C, t, Cm, tm)
% compute the error quaternion btw. the true and the estimated solutions
% (using JPL definition of quaternions)
q_del = rot2quat(C' * Cm);
% compute the tilt angle error
da = norm(q_del(1:3) * 2);
% compute the position error
dt = norm(t - tm);
end
function q = rot2qu... |
github | rising-turtle/slam_matlab-master | gtsamExamples.m | .m | slam_matlab-master/libs_dir/gtsam-toolbox-2.3.0-win64/toolbox/gtsam_examples/gtsamExamples.m | 5,664 | utf_8 | f2621b78fabdb370c4f63d5e0309b7e9 | function varargout = gtsamExamples(varargin)
% GTSAMEXAMPLES MATLAB code for gtsamExamples.fig
% GTSAMEXAMPLES, by itself, creates a new GTSAMEXAMPLES or raises the existing
% singleton*.
%
% H = GTSAMEXAMPLES returns the handle to a new GTSAMEXAMPLES or the handle to
% the existing singleton*.
%
% ... |
github | rising-turtle/slam_matlab-master | VisualISAM_gui.m | .m | slam_matlab-master/libs_dir/gtsam-toolbox-2.3.0-win64/toolbox/gtsam_examples/VisualISAM_gui.m | 10,009 | utf_8 | ed501f5a7d855d179385d3bb29e65500 | function varargout = VisualISAM_gui(varargin)
% VisualISAM_gui: runs VisualSLAM iSAM demo in GUI
% Interface is defined by VisualISAM_gui.fig
% You can run this file directly, but won't have access to globals
% By running ViusalISAMDemo, you see all variables in command prompt
% Authors: Duy Nguyen Ta
% Last Mod... |
github | rising-turtle/slam_matlab-master | find_pair_tp.m | .m | slam_matlab-master/ground_truth_zh/find_pair_tp.m | 4,069 | utf_8 | 48cda0aca2320418530334c250c0cc24 | % Find pairs between two 3D point sets by using T pattern
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/18/14
%
% Input : gt_total : [time_stamp [x y z]*5]
function [ gt_total_pair ] = find_pair_tp( gt_total )
%UNTITLED Summary of this function goes here
% Detailed explanation goes here
%addpath('..\icp')... |
github | rising-turtle/slam_matlab-master | generate_gt_wpattern_syn_zh.m | .m | slam_matlab-master/ground_truth_zh/generate_gt_wpattern_syn_zh.m | 8,468 | utf_8 | 341b6b99aacac024b3929ca4d0226dcf | % Generate ground truth from motion capture data of MOTIVE, using Time to
% synchorize not the movement, also synchorize the camera record time
% Assumption : Motion caputre data of MOTIVE(file format : *.csv) has at least 5 markers on SR4K
%
% Author : David Zhang (hxzhang1@ualr.edu)
% Date : 10/23/15
function gener... |
github | rising-turtle/slam_matlab-master | rmat2quat.m | .m | slam_matlab-master/ground_truth_zh/rmat2quat.m | 795 | utf_8 | 238c076762b7266d10f6726f613f660c | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Converts (orthogonal) rotation matrices R to (unit) quaternion
% representations
%
% Input: A 3x3xn matrix of rotation matrices
% Output: A 4xn matrix of n corresponding quaternions
%
% http://en.wikipedia.org/wiki/Rotation_matrix#Quaternion... |
github | rising-turtle/slam_matlab-master | quat2rmat.m | .m | slam_matlab-master/ground_truth_zh/quat2rmat.m | 798 | utf_8 | fb153dbeaab428656e51bea7b133b87c | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Converts (unit) quaternion representations to (orthogonal) rotation matrices R
%
% Input: A 4xn matrix of n quaternions
% Output: A 3x3xn matrix of corresponding rotation matrices
%
% http://en.wikipedia.org/wiki/Quaternions_and_spatial_rota... |
github | rising-turtle/slam_matlab-master | compute_initial_Tnew.m | .m | slam_matlab-master/ground_truth_zh/compute_initial_Tnew.m | 3,696 | utf_8 | 8d867c8f8fc844654fc6bb156c2b5ec4 | %
% new T-bar on the robocane for data collection
% find the initial transformation from world coordinate to camera
% coordinate, z
% the result shows that /
% T pattern, find matched points /
% x ---|--- 5 1 4 ... |
github | rising-turtle/slam_matlab-master | extractTPattern.m | .m | slam_matlab-master/ground_truth_zh/extractTPattern.m | 4,990 | utf_8 | d95b3060ae44175ad6d00c6f87ecdeca | %%
% Jan. 30 2018, He Zhang, hxzhang1@ualr.edu
% extract T Pattern from motion capture data, and store it into TPattern.log
% the T Pattern is described in compute_initial_Tnew.m
function extractTPattern(fname, ouf)
clear all
clc
clf
close all
global g_TN;
g_TN = 5;
global g_6;
g_6 = 0;
if nargin == 0
fname = ... |
github | rising-turtle/slam_matlab-master | transform_pc.m | .m | slam_matlab-master/ground_truth_zh/transform_pc.m | 333 | utf_8 | 61bdbcf94164db5c26d374657b5b494e | %
% transform point cloud given [R t]
% Author : David Zhang (hxzhang1@ualr.edu)
% Date : 10/23/15
function [pc] = transform_pc(pc, R, t)
[m, n] = size(pc);
loop_n = n/3;
translation = repmat(t, 1, m);
for i=1:loop_n
pc_T = pc(:,(i-1)*3+1:i*3)';
pc_T = R*pc_T + translation;
pc(:, (i-1)*3+1:i*3) = pc_... |
github | rising-turtle/slam_matlab-master | compare_error_lsd_rgbd_vo.m | .m | slam_matlab-master/ground_truth_zh/compare_error_lsd_rgbd_vo.m | 2,666 | utf_8 | 476dd1331f449491f422d3bfbb435ea0 | function compare_error_lsd_rgbd_vo()
%%
% Author : David Zhang (hxzhang1@ualr.edu)
% Date : 08/08/16
% compute the RMSE of the relative displacement error given the result
% from VO of LSDSLAM and of RGBDSLAM
%% comparison between dense-track and sparse-track, use dataset_3
gt_f = '.\motion_capture_data\test_10_16... |
github | rising-turtle/slam_matlab-master | transform_TR.m | .m | slam_matlab-master/ground_truth_zh/transform_TR.m | 443 | utf_8 | a666dc39ac19c4ad53318391dd685460 | %%
% transform coodinate system
% pay attention to quaternion sequence
function [pose] = transform_TR(pose, R, t)
T_w2l = combine(R, t);
for i = 1:size(pose, 1)
t_l2i = pose(i, 1:3);
q = pose(i, 4:7);
R_l2i = quat2rmat(q');
T_l2i = combine(R_l2i, t_l2i');
T_w2i = T_w2l * T_l2i;
[R_w2i, t... |
github | rising-turtle/slam_matlab-master | eq_point.m | .m | slam_matlab-master/ground_truth_zh/eq_point.m | 834 | utf_8 | e792beddfd466db4f709817ca9559e8e | %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%% this function is from icp function
function [R,T] = eq_point(q,p,weights)
if nargin <= 2
weights = ones(1,size(q,2));
end
m = size(p,2);
n = size(q,2);
% normalize weights
weights = weights ./ sum(weights);
% find data centroid and... |
github | rising-turtle/slam_matlab-master | get_ground_truth_pose.m | .m | slam_matlab-master/ground_truth_zh/get_ground_truth_pose.m | 1,938 | utf_8 | 96628d57e5d78e6f7f222759ad420b01 | function get_ground_truth_pose()
%
% Author : David Zhang (hxzhang1@ualr.edu)
% Date : 08/08/16
% get the ground truth pose of the keyframes
%
gt_f = '.\motion_capture_data\test_10_16_2015\Take 2015-10-16 04.49.46 PM.dat_pose_wp';
es_f = '.\motion_capture_data\test_10_16_2015\dataset_3\compare_lsd_vo\key_frame_traject... |
github | rising-turtle/slam_matlab-master | generate_gt_trajectory.m | .m | slam_matlab-master/ground_truth_zh/generate_gt_trajectory.m | 8,560 | utf_8 | 83821a42059115510139114d096fa98f | % input: inf: *.csv file
% Assumption : Motion caputre data of MOTIVE(file format : *.csv) has at
% least 5 markers on camera
%
% input: inf .log file include TPattern points extracted by extractTPattern.m
% output: ouf: .log file [timestamp x, y, z, qx, qy, qz, qw]
% Author : David Zhang (hxzhang1@ualr.edu)
% Date :... |
github | rising-turtle/slam_matlab-master | find_pair_nn.m | .m | slam_matlab-master/ground_truth_zh/find_pair_nn.m | 816 | utf_8 | a1524f22e650404f71c7aa8e8853bd08 | % Find pairs between two 3D point sets by Nearest Neighbors
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/21/14
%
% Input : gt_total : [[x y z]*n]
function [ gt_total_pair] = find_pair_nn( gt_total)
% Find pairs by nearest neighbor
gt_total_pair=gt_total(1,:);
for i=2:size(gt_total,1)
mi... |
github | rising-turtle/slam_matlab-master | plot_ate_translation_error.m | .m | slam_matlab-master/ground_truth_zh/plot_ate_translation_error.m | 1,920 | utf_8 | ad162345ee6f3a0cbc13de7dd392e0da |
% Author : David Zhang (hxzhang1@ualr.edu)
% Date : 11/09/15
% plot the the ATE displacement error at each step,
function plot_ate_translation_error()
add_path_zh;
%% dataset_1
% gt_f = '.\motion_capture_data\test_10_16_2015\Take 2015-10-16 04.25.55 PM.dat_pose_wp';
% es_f = '.\motion_capture_d... |
github | rising-turtle/slam_matlab-master | compute_initial_T.m | .m | slam_matlab-master/ground_truth_zh/compute_initial_T.m | 3,809 | utf_8 | fd2892b25e171900ac986ea56e8b49a7 | %
% find the initial transformation from world coordinate to camera
% coordinate, y z
% the result shows that | /
% T pattern, find matched points | /
% ---|--- 5/4 1 4/5 x ----|/
% | 2 ... |
github | rising-turtle/slam_matlab-master | plot_gt_and_estimate.m | .m | slam_matlab-master/ground_truth_zh/plot_gt_and_estimate.m | 5,255 | utf_8 | cdc1577b62ee7dcf19136ad6ee3972bd | % Author : David Zhang (hxzhang1@ualr.edu)
% Date : 10/23/15
% plot the estimated trajectory and the ground truth
function plot_gt_and_estimate(gt_f, es_f)
if nargin == 0
%% dataset_1
% gt_f = '.\motion_capture_data\test_10_16_2015\Take 2015-10-16 04.25.55 PM.dat_pose_wp';
% es_f = '.\motion_captur... |
github | rising-turtle/slam_matlab-master | transform_traj.m | .m | slam_matlab-master/ground_truth_zh/transform_traj.m | 715 | utf_8 | b10b621acceb5b4ffe34ca4642d61bff | %%
% Aug. 16, 2016, David Z
% Transform a trajectory into a new reference
function tp = transform_traj(p, iniT)
if nargin < 2
iniT = [0.2 0.03 0.98 -0.43;
-0.98 -0.08 0.2 -0.29;
0.09 -1. 0.01 0.23;
0 0 0 1];
end
np = vect_T(iniT);
tp = np;
new_T = iniT;
last_T = trans_T(p... |
github | rising-turtle/slam_matlab-master | getTPattern.m | .m | slam_matlab-master/ground_truth_zh/getTPattern.m | 1,328 | utf_8 | 9bc54a7788714c6f84971a73e5515dcd | %%
% Jan. 28 2018, He Zhang, hxzhang1@ualr.edu
% explore the T pattern
%
function getTPattern(fname)
global g_TN;
g_TN = 5;
if nargin == 0
fname = './motion_capture_data/Dense_Slow_640x480_30_b.csv';
end
%% read data from .csv file
pts = get_data(fname);
%% compute sum distance
sum_dis = compute_distance(p... |
github | rising-turtle/slam_matlab-master | deconstruct.m | .m | slam_matlab-master/ground_truth_zh/deconstruct.m | 116 | utf_8 | 41b09cb36372256be5cdd13704898870 |
function [q, t] = deconstruct(T)
[R,t] = decompose(T);
q = rmat2quat(R);
q = [q(2) q(3) q(4) q(1)];
end |
github | rising-turtle/slam_matlab-master | plot_rte_translation_error.m | .m | slam_matlab-master/ground_truth_zh/plot_rte_translation_error.m | 2,679 | utf_8 | c6a2dedbcd822057858f9662f7e72390 |
% Author : David Zhang (hxzhang1@ualr.edu)
% Date : 11/13/15
% plot the accumulated RTE displacement error at each step,
function plot_rte_translation_error()
add_path_zh;
%% dataset_1
gt_f = '.\motion_capture_data\test_10_16_2015\Take 2015-10-16 04.25.55 PM.dat_pose_wp';
es_f = '.\motion_cap... |
github | rising-turtle/slam_matlab-master | compute_distance.m | .m | slam_matlab-master/ground_truth_zh/compute_distance.m | 662 | utf_8 | a959fb86cb7213760e2844ca61964ba3 | %% compute sum of mutual distance between all points
function [sum_dis] = compute_distance(pts)
[row, col] = size(pts);
global g_TN;
sum_dis = zeros(row, col/3);
for i=1:row
pt_dis = zeros(1, g_TN);
for m=1:g_TN
pt = pts(i, (m-1)*3+1:(m*3));
dis_m = 0; % s... |
github | rising-turtle/slam_matlab-master | synchorize_gt_record.m | .m | slam_matlab-master/ground_truth_zh/synchorize_gt_record.m | 2,150 | utf_8 | 57bbd95d8600f2e1b5c43fe5b69a9210 | %
% synchorize the timestamp between motion capture and camera record
%
% Author : David Zhang (hxzhang1@ualr.edu)
% Date : 10/28/15
function [gt, gt_total] = synchorize_gt_record(gt_fname, record_log)
clc
if nargin == 0
%% Load motion capture data
% gt_fname = '.\motion_capture_data\test_10_16_2015\Take 20... |
github | rising-turtle/slam_matlab-master | compute_error.m | .m | slam_matlab-master/ground_truth_zh/compute_error.m | 6,020 | utf_8 | 5435bdb9264dc70c0879cef7e7e930e5 | function [rmse, E_sq, E_ab] = compute_error(gt_f, es_f, mode)
%
% Author : David Zhang (hxzhang1@ualr.edu)
% Date : 11/06/15
% compute the RMSE of the relative displacement error, following
% kuemmerl09auro's approach, RTE, and ATE,
%
if nargin == 0
%% dataset_1
% gt_f = '.\motion_capture_data\test_10... |
github | rising-turtle/slam_matlab-master | pose_optimization_example_landmark_2d.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/pose_optimization_example_landmark_2d.m | 6,710 | utf_8 | 0600bb720d4a8ddc710779bc6a61242b | % 2D Example of Pose Graph Optimization
% Data : 4/12/12
% Author : Soonhac Hong (sxhong1@ualr.edu)
function pose_optimization_example_landmark_2d()
% 2D case
pose_data=[1 1 0 0 0; 1 2 2 0 0 ; 2 3 2 0 pi/2];
landmark_data=[3 4 2 0 ; 1 5 2 2 ; 2 5 2 0 ]; % [first pose, second pose, constraint[x,y,theta]]
xinit = [0.5;... |
github | rising-turtle/slam_matlab-master | generate_location_info.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/generate_location_info.m | 2,639 | utf_8 | 6d427ec892a4afe59429489cac5899bc | % Generate the location infomation for Text-To-Speech and plots
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% History :
% 8/27/14 : Created
%
function [location_info, location_file_index] = generate_location_info(gtsam_pose_result, plot_xyz_result, location_file_index)
import gtsam.*
% Extract the optimized pose fr... |
github | rising-turtle/slam_matlab-master | plot_isam.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/plot_isam.m | 6,643 | utf_8 | b50a91a7288a763a25eedeb7ae97e1f4 | % Plot the result of graph SLAM, isam
%
% Author : Soonhac Hong (sxhong1@uarl.edu)
% Date : 2/22/12
function plot_isam(org_file_name, opt_file_name)
[org_poses] = load_graph_isp(org_file_name);
[opt_poses] = load_graph_isam(opt_file_name);
% Show the pose
start_index = 1;
%end_index = min(size(org_poses,1), size(opt... |
github | rising-turtle/slam_matlab-master | load_graph_g2o.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/load_graph_g2o.m | 2,350 | utf_8 | 90f4a5ad47e0b0c319d82f953af06196 | % Load graph of vro
function [poses edges fpts_poses fpts_edges] = load_graph_g2o(file_name)
fid = fopen(file_name);
data = textscan(fid, '%s %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f'); % 2D format
fclose(fid);
% Convert data
% Pose
data_name =... |
github | rising-turtle/slam_matlab-master | Convert_map.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/Convert_map.m | 2,344 | utf_8 | 43aaeae9934a5b80a0b75f7f680234ef | % Convert map based its locations
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 5/16/14
function Convert_map()
%input_file_name = 'D:\Soonhac\SW\GraphSLAM\results\isam\3d\revisiting9_10m_Replace_pose_zero_827_vro_gtsam_feature_total_v1.ply';
%output_file_name = 'D:\Soonhac\SW\GraphSLAM\results\isam\3d\revis... |
github | rising-turtle/slam_matlab-master | get_global_transformation_dataname.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/get_global_transformation_dataname.m | 11,980 | utf_8 | 8be9a4cd85dc54f2a37329cbcb602d99 | % Get global transformation for each data set
%
% Author : Soonhac Hong (sxhong1@uarl.edu)
% Date : 10/22/12
function [h_global] = get_global_transformation_dataname(data_name, dynamic_index, isgframe)
addpath('..\slamtoolbox\slamToolbox_11_09_08\FrameTransforms\Rotations');
% rx, ry, rz : [degree]
% tx, ty, tz : [m... |
github | rising-turtle/slam_matlab-master | Convert_map_culling.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/Convert_map_culling.m | 1,973 | utf_8 | 5f09a0f4dbe560f1581a95e4b29f0753 | % Convert map based its locations
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 5/16/14
function Convert_map_culling()
%input_file_name = 'D:\Soonhac\SW\GraphSLAM\results\isam\3d\revisiting9_10m_Replace_pose_zero_827_vro_gtsam_feature_total_v1.ply';
%output_file_name = 'D:\Soonhac\SW\GraphSLAM\results\isam\... |
github | rising-turtle/slam_matlab-master | load_graph_toro.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/load_graph_toro.m | 2,468 | utf_8 | 9ad77c44caa6bd902416b9677c82e351 | % Plot the data of TORO
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 4/19/2012
function [poses edges fpts_poses fpts_edges] = load_graph_toro(file_name)
fid = fopen(file_name);
data = textscan(fid, '%s %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f'); % 2D fo... |
github | rising-turtle/slam_matlab-master | graph_slam_1d.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/graph_slam_1d.m | 2,026 | utf_8 | 0855b87c8e04ca339c4e5517526e64ec | % 1-D graph SLAM
% Data : 4/12/12
% Author : Soonhac Hong (sxhong1@ualr.edu)
function graph_slam_1d()
% Data
%pose_data = [1 1 -3; 1 2 5; 2 3 3]; % first row : initial pose, second row : [1]= current index, [2] = next index, [3] = movement
%result = [-3; 2; 5];
% pose_data =[1 1 0; 1 2 3; 2 3 4; 1 3 6; 3 4 2];
%
% ... |
github | rising-turtle/slam_matlab-master | plot_gtsam.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/plot_gtsam.m | 8,191 | utf_8 | 32b10ae3e271c52b77844abca2c62522 | % Plot the result of graph SLAM, isam
%
% Author : Soonhac Hong (sxhong1@uarl.edu)
% Date : 2/22/12
function plot_gtsam(org_file_name, opt_file_name)
[org_poses] = load_graph_isp(org_file_name);
[opt_poses] = load_graph_isp(opt_file_name);
compute_trajectory_error(org_poses, opt_poses);
% Show the pose
start_index ... |
github | rising-turtle/slam_matlab-master | convert_pc2ply_map_registration_v2.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/convert_pc2ply_map_registration_v2.m | 5,723 | utf_8 | cdf00bc9983ff11fc3c1ea7f124934dc | % Write 3D point clouds to a ply file using map registration algorithm
% Conver isp to ply for meshlab
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% History :
% 1/8/14 : Created
% 2/27/14 : Update map by mean value of correspondence and include quality
% factor
function convert_pc2ply_map_registration_v2(ply_header... |
github | rising-turtle/slam_matlab-master | analyze_bundler_file.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/analyze_bundler_file.m | 3,795 | utf_8 | d9454f3886b73ec5e3a3f2cb4db97ca5 | % Analyze bundler file
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/13/13
function analyze_bundler_file()
graphslam_addpath;
addpath('D:\soonhac\Project\PNBD\SW\ASEE\slamtoolbox\slamToolbox_11_09_08\FrameTransforms\Rotations');
addpath('D:\soonhac\Project\PNBD\SW\ASEE\slamtoolbox\slamToolbox_11_09_08\DataM... |
github | rising-turtle/slam_matlab-master | generate_feature_index.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/generate_feature_index.m | 2,078 | utf_8 | a2d297a437866c5e4fc478c009089384 | % Generate feature index through all data
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 3/1/13
function [feature_points] = generate_feature_index(feature_points)
feature_index_list=[];
camera_index_list=[];
feature_index = 1;
for i=1:size(feature_points,1)
if feature_points(i,1) == 1 && feature_points(i,... |
github | rising-turtle/slam_matlab-master | compensate_vro.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/compensate_vro.m | 10,828 | utf_8 | 75a630c580d4f470b446748ce1cce2d2 | % Compensate the missing pose
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 4/19/20
function [new_f_index, new_t_pose, new_o_pose, new_fpts_index, new_pose_std] = compensate_vro(f_index, t_pose, o_pose, fpts_index, pose_std, pose_std_flag, cmp_option)
cur_index = f_index(1,1);
new_index = 1;
f_index_length = si... |
github | rising-turtle/slam_matlab-master | run_pose_graph_optimization_v2.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/run_pose_graph_optimization_v2.m | 1,322 | utf_8 | d28a8104e89fa69ed5a18db6501d5382 | % Run pose graph optimization
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% History :
% 3/26/14 : Created
function [result, graph, initial, h_global, location_file_index, location_info_history]=run_pose_graph_optimization_v2(vro_result, vro_pose_std, graph, initial, h_global, dis, location_flag, location_file_index,... |
github | rising-turtle/slam_matlab-master | convert_o2p_adaptive.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/convert_o2p_adaptive.m | 5,408 | utf_8 | 0c1a9b2d0a86628ce2495a472c1f80ae | % Conver the odometery to the global pose
% t_pose [mm]
% o_pose [degree]
function [pose_index, e_t_pose e_o_pose fpts_h] = convert_o2p_adaptive(data_index, dynamic_index, f_index, t_pose, o_pose, feature_points, dense_index, sparse_interval)
% Generate the vertex using VRO
disp('Generate the vertex using VRO.');
pre... |
github | rising-turtle/slam_matlab-master | kinect_relative_pose_gt.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/kinect_relative_pose_gt.m | 2,205 | utf_8 | 99fd8e96694f4792837b8a2ac1a0d976 | % Compute relative pose b/w two images from ground truth in kinect_tum
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 12/20/12
function kinect_relative_pose_gt(dir_index, depth_file_index_1, depth_file_index_2)
format LONGG;
addpath('D:\soonhac\Project\PNBD\SW\ASEE\slamtoolbox\slamToolbox_11_09_08\FrameTransfor... |
github | rising-turtle/slam_matlab-master | plot3_gtsam.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/plot3_gtsam.m | 1,456 | utf_8 | 5e536d0602db5d998c7d610d2e8c0e25 | % This file was modified from gtsam/toolbox/+gtsam/plot3DTreajectory.m
function plot3_gtsam(values,linespec,frames,scale,marginals)
% plot3DTrajectory plots a 3D trajectory
% plot3DTrajectory(values,linespec,frames,scale,marginals)
if ~exist('scale','var') || isempty(scale), scale=1; end
if ~exist('frames','var'), sc... |
github | rising-turtle/slam_matlab-master | construct_pose_graph.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/construct_pose_graph.m | 2,474 | utf_8 | 1d5fc7f3f5bebe8be1aa17d55d8bca3a | % Construct a pose graph for Graph SLAM
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% History :
% 3/26/14 : Created
function [graph,initial] = construct_pose_graph(vro_result, vro_pose_std, graph, initial)
import gtsam.*
n=size(vro_result,1);
N=n;
pose_size=max(vro_result(:,2));
first_index_offset = 1;
step_thres... |
github | rising-turtle/slam_matlab-master | plot_graph_initial_result.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/plot_graph_initial_result.m | 2,568 | utf_8 | 48f6abd5162643f1f8d96e7f6012a8ec | % Show plots of inital pose and optimized pose
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% History :
% 3/27/14 : Created
%
function [location_file_index, location_info_history] = plot_graph_initial_result(gtsam_pose_initial, gtsam_pose_result, location_flag, location_file_index, location_info_history)
import gtsam... |
github | rising-turtle/slam_matlab-master | pose_optimization_example_2d.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/pose_optimization_example_2d.m | 4,277 | utf_8 | 75b4771c3e2e5f8defec05bbcc23317e | % 2D Example of Pose Graph Optimization
% Data : 4/12/12
% Author : Soonhac Hong (sxhong1@ualr.edu)
function pose_optimization_example_2d()
% 2D case
pose_data=[1 1 0 0 0; 1 2 2 0 0 ; 2 3 2 0 pi/2; 3 4 2 0 pi/2; 4 5 2 0 pi/2 ; 5 2 2 0 pi/2]; % [first pose, second pose, constraint[x,y,theta]]
xinit = [0.5; 0.0; 0.2; 2... |
github | rising-turtle/slam_matlab-master | plot_g2o.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/plot_g2o.m | 3,805 | utf_8 | 7e0fcebfeb6496b1ba99eb889d50d7af | % Plot the result of graph SLAM, g2o
%
% Author : Soonhac Hong (sxhong1@uarl.edu)
% Date : 2/22/12
function plot_g2o(org_file_name, opt_file_name, feature_flag)
[ org_poses org_edges org_fpts_poses org_fpts_edges] = load_graph_g2o(org_file_name);
[ opt_poses opt_edges opt_fpts_poses opt_fpts_edges] = load_graph_g2o(o... |
github | rising-turtle/slam_matlab-master | generate_location_info_v2.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/generate_location_info_v2.m | 1,803 | utf_8 | 636d5ba368cd57e0ff5b309c1a1ab788 | % Generate the location infomation for Text-To-Speech and plots
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% History :
% 8/27/14 : Created
%
function [location_info, location_file_index] = generate_location_info_v2(gtsam_pose_result, plot_xyz_result, location_file_index)
import gtsam.*
location_info=[];
% Extract ... |
github | rising-turtle/slam_matlab-master | convert_isp2ply.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/convert_isp2ply.m | 1,477 | utf_8 | 156009055f11b3be476e3513612330c7 | % Conver isp to ply for meshlab
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 4/1/13
function convert_isp2ply(isp_file_name, file_index, dynamic_index, isgframe, vro_name)
[poses] = load_graph_isp(isp_file_name);
isp_finder = strfind(isp_file_name,'isp');
if(isempty(isp_finder))
ply_file_name=strrep(isp_... |
github | rising-turtle/slam_matlab-master | gslam_plot_comparison.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/gslam_plot_comparison.m | 10,628 | utf_8 | ab0569c4aae179bf191b516d557a3428 | % plot comparison of g2o and isam
function gslam_plot_comparison()
% file_index = 5; % 5 = whitecane
% dynamic_index = 16;
file_index = 9; % 5 = whitecane 6 = etas
dynamic_index = 1; % 15:square_500, 16:square_700, 17:square_swing
etas_nFrame_list = [979 1479 979 1979 1889]; %[3rd_straight, 3rd_swing, 4... |
github | rising-turtle/slam_matlab-master | get_global_transformation_single.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/get_global_transformation_single.m | 517 | utf_8 | f3c4ebbcb15dd51122b659ed76b7d39e | % Get global transformation for each data set with the first frame
%
% Author : Soonhac Hong (sxhong1@uarl.edu)
% Date : 3/27/14
function [h_global] = get_global_transformation_single(data_name)
addpath('D:\Soonhac\SW\slamtoolbox\slamToolbox_11_09_08\FrameTransforms\Rotations');
% rx, ry, rz : [degree]
% tx, ty, tz ... |
github | rising-turtle/slam_matlab-master | plot_toro.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/plot_toro.m | 5,122 | utf_8 | b208119b20ac256877227aa33a31c7eb | % Plot the result of graph SLAM, g2o
%
% Author : Soonhac Hong (sxhong1@uarl.edu)
% Date : 2/22/12
function plot_toro(org_file_name, opt_file_name, feature_flag)
[ org_poses org_edges org_fpts_poses org_fpts_edges] = load_graph_toro(org_file_name);
[ opt_poses opt_edges opt_fpts_poses opt_fpts_edges] = load_graph_tor... |
github | rising-turtle/slam_matlab-master | check_duplication.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/check_duplication.m | 618 | utf_8 | a80eb6b224d62975425c043d78830e0d | % Check single data duplication in data set
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 3/21/12
function [duplication_index, duplication_flag] = check_duplication(data_set, data)
duplication_index = 0;
duplication_flag = 0;
distance_threshold = 41; % [mm]; typical absolute accuracy + 3 * typical ... |
github | rising-turtle/slam_matlab-master | load_graph_isam.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/load_graph_isam.m | 1,876 | utf_8 | 4136a74c81fcb67ebfd3066b75051e13 | % Load the graph of isam
function [poses] = load_graph_isam(file_name)
fid = fopen(file_name);
% Convert data
% Pose
data_name_list = {'Pose2d_Node','Pose2d_Pose2d_Factor','Pose3d_Node'};
vertex_index = 1;
edge_index = 1;
while ~feof(fid) %for i = 1 : size(data_name,1)
... |
github | rising-turtle/slam_matlab-master | plot_icp_ct.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/plot_icp_ct.m | 560 | utf_8 | 0caa9c7fd9f9245a8cd86987ab0e4426 | % Plot the result of computational time of icp
%
% Author : Soonhac Hong (sxhong1@uarl.edu)
% Date : 1/22/13
function plot_icp_ct(file_name)
ct_data = load(file_name);
ct = ct_data(:,3);
figure;
plot(ct,'b.');
ylabel('Computatoinal Time [sec]')
set(gca,'FontSize',12,'FontWeight','bold');
h_ylabel = get(gca,'YLabel');... |
github | rising-turtle/slam_matlab-master | show_camera_pose.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/show_camera_pose.m | 2,064 | utf_8 | 7cb0989642cf704f0bc47753fbb09e02 | % Show camera pose with coordinates
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/11/13
function show_camera_pose(poses, is_new_figure, isVRO, isROS_SBA, isCoordinateOn, symbol_color )
% poses : n x 6D (n : number of poses)
if is_new_figure
figure;
end
if strcmp(isROS_SBA, 'ros_sba')
new_poses=[];... |
github | rising-turtle/slam_matlab-master | run_gslam.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/run_gslam.m | 7,387 | utf_8 | 78718a0ddde1865e57f3e6723649741f | % Conver the results of VRO to the vertex and edges for g2o
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/22/12
function [vro_size] = run_gslam(data_index, dynamic_index, nFrame, g2o_file_name, g2o_dir_name, feature_flag, index_interval, dis)
if nargin < 8
dis = 0;
end
% Load the result of VRO
disp('L... |
github | rising-turtle/slam_matlab-master | generate_video.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/generate_video.m | 5,239 | utf_8 | 1e4f4012d3f049bf499b74bcb98967b4 | % Conver isp to ply for meshlab
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 4/1/13
function generate_video(isp_file_name, opt_file_name, file_index, dynamic_index, isgframe, vro_name)
close all;
[poses] = load_graph_isp(isp_file_name);
[opt_poses] = load_graph_isp(opt_file_name);
% convert_feature2pl... |
github | rising-turtle/slam_matlab-master | plot_kinect_tum.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/plot_kinect_tum.m | 3,022 | utf_8 | e0bff3482681f917c9d1b66f877a96f7 | % Plot the result of graph SLAM for kinect_tum data
%
% Author : Soonhac Hong (sxhong1@uarl.edu)
% Date : 2/22/12
function plot_kinect_tum(org_file_name, opt_file_name, optimizer_name, dir_index, nFrame)
switch optimizer_name
case 'isam'
[org_poses] = load_graph_isp(org_file_name);
if ~strcmp(opt_... |
github | rising-turtle/slam_matlab-master | generate_map.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/generate_map.m | 1,184 | utf_8 | 3157a39500f461ed019f656d17af83e5 | % Generate *.ply files for visualization
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 6/5/14
function generate_map()
graphslam_addpath;
file_index = 12; %16; % 5 = whitecane 6 = etas 7 = loops 8 = kinect_tum 9 = loops2 10= amir_vro 11 = sparse_feature 12 = swing 13 = swing2 14 = motive 15 = object_recognitio... |
github | rising-turtle/slam_matlab-master | run_pose_graph_optimization_v0.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/run_pose_graph_optimization_v0.m | 989 | utf_8 | 7b2b6f882f54303b50a4255b1264f1df | % Run pose graph optimization
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% History :
% 3/26/14 : Created
function [result, graph, initial, h_global]=run_pose_graph_optimization_v0(data_name, dynamic_index, vro_result, vro_pose_std, graph, initial, h_global, dis)
import gtsam.*
t = gtsam.Point3(0, 0, 0);
if isemp... |
github | rising-turtle/slam_matlab-master | get_timestamp_kinect_tum_color.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/get_timestamp_kinect_tum_color.m | 572 | utf_8 | cd7c6a57abe82b21dac2db599552499f | % Get time stamp of color image in kinect_tum dataset
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 12/20/12
function [time_stamp] = get_timestamp_kinect_tum_color(dm,j)
dir_name = get_kinect_tum_dir_name();
[depth_data_dir, err] = sprintf('E:/data/kinect_tum/%s/rgb',dir_name{dm});
dirData = dir(depth_data_dir... |
github | rising-turtle/slam_matlab-master | pose_optimization_example_1d.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/pose_optimization_example_1d.m | 1,981 | utf_8 | 692c2cb99f72f86abae593d592dbdb8f | % 1D Example of Pose Graph Optimization
% Data : 4/12/12
% Author : Soonhac Hong (sxhong1@ualr.edu)
function pose_optimization_example_1d()
% 1D case
pose_data=[1 1 0; 1 2 9 ; 2 3 5; 3 4 8; 1 3 11; 1 4 19; 2 4 12]; % [first pose, second pose, constraint]
xinit = [0 9 14 22]';
motion_noise = 0.3;
pose_num = size(uniqu... |
github | rising-turtle/slam_matlab-master | convert_isam2rossba.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/convert_isam2rossba.m | 15,493 | utf_8 | 039d105831c4081ddbc63fca4bd798e9 | % Convert *.isp and *.sam to files for ROS sba(http://www.ros.org/wiki/sba/Tutorials/IntroductionToSBA)
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/11/13
function convert_isam2rossba()
graphslam_addpath;
addpath('D:\soonhac\Project\PNBD\SW\ASEE\slamtoolbox\slamToolbox_11_09_08\FrameTransforms\Rotations');... |
github | rising-turtle/slam_matlab-master | sampling_feature_points.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/sampling_feature_points.m | 2,203 | utf_8 | 50716c6d229373f5a112bf5f9b1292e5 | % Conver the results of VRO to the vertex and edges for isam
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 3/14/13
function new_feature_points = sampling_feature_points(feature_points, min_pixel_distance)
camera_index_list=unique(feature_points(:,1));
temp_feature_points=[];
%min_pixel_distance = 2;
for i=1... |
github | rising-turtle/slam_matlab-master | modify_graph_isam.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/modify_graph_isam.m | 3,121 | utf_8 | c0aacf62c3a5af46b5574b70ed447559 | % Load the graph of isam
function modify_graph_isam(input_file_name)
temp_file_name = textscan(input_file_name,'%s','Delimiter','.');
output_file_name = sprintf('%s_modified.sam',temp_file_name{1}{1,1});
fid = fopen(input_file_name);
% Convert data
% Pose
data_name_l... |
github | rising-turtle/slam_matlab-master | get_file_names.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/get_file_names.m | 4,480 | utf_8 | a1283f12893ede7f6b3241f3fc754853 | % Get file name, directory name and number of frame
function [g2o_result_dir_name, isam_result_dir_name, vro_dir_name, dynamic_dir_name, toro_dir_name] = get_file_names(dir_index, dynamic_index)
% Select Data Set
vro_file_name_list ={'data/2d/manhattan3500/manhattanOlson3500.g2o', 'data/2d/intel/intel.g2o','data/3d/s... |
github | rising-turtle/slam_matlab-master | graphslam_addpath.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/graphslam_addpath.m | 486 | utf_8 | 9c4c53f3ba485b8dc6124acfb412717c | % Add the path for graph slam
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 10/16/12
function graphslam_addpath
addpath('D:\Soonhac\SW\gtsam-toolbox-2.3.0-win64\toolbox');
addpath('D:\soonhac\SW\kdtree');
addpath('D:\soonhac\SW\LevenbergMarquardt');
addpath('D:\soonhac\SW\Localization');
addpath('D:\soonhac\S... |
github | rising-turtle/slam_matlab-master | Load_kinect_gt.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/Load_kinect_gt.m | 1,147 | utf_8 | 504b68074215f361df0680fcfb6e0467 | % Load data from Kinect data
%
% Parameters
% data_name : the directory name of data
% dm : index of directory of data
% j : index of frame
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 4/20/11
function [gt rgbdslam rtime] = Load_kinect_gt(dm, dis)
if nargin < 2
dis = 0;
end
t_load = tic;
%dir_na... |
github | rising-turtle/slam_matlab-master | convert_vro_toro.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/convert_vro_toro.m | 9,855 | utf_8 | e24f66fba9a7a135e5d337a5e0c131dc | % Conver the results of VRO to the vertex and edges for TORO
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/22/12
function [vro_size] = convert_vro_toro(data_index, dynamic_index, nFrame, g2o_file_name, g2o_dir_name, feature_flag, index_interval, cmp_option, dense_index, sparse_interval, dis)
if nargin < 9
... |
github | rising-turtle/slam_matlab-master | get_timestamp_kinect_tum.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/get_timestamp_kinect_tum.m | 568 | utf_8 | fd152c23df0229d3e879a91f12ea7ed7 | % Get time stamp of depth image in kinect_tum dataset
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 12/20/12
function [time_stamp] = get_timestamp_kinect_tum(dm,j)
dir_name = get_kinect_tum_dir_name();
[depth_data_dir, err] = sprintf('E:/data/kinect_tum/%s/depth',dir_name{dm});
dirData = dir(depth_data_dir); ... |
github | rising-turtle/slam_matlab-master | analyze_pose_std.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/analyze_pose_std.m | 2,255 | utf_8 | d715dbcac4fa5d655d84870c9c2162d4 | % Analyze standard deviation of motion estimation by VRO, VRO_ICP.
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 3/1/13
function [median_pose_std, std_pose_std, unique_step, step1_pose_std_total, step1_pose_std] = analyze_pose_std(f_index, pose_std, verbosity)
step = abs(f_index(:,1)-f_index(:,2));
unique_step... |
github | rising-turtle/slam_matlab-master | convert_vro_g2o.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/convert_vro_g2o.m | 7,261 | utf_8 | c5b3ce08193f250cd2c7f03abd91f261 | % Conver the results of VRO to the vertex and edges for g2o
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/22/12
function [vro_size] = convert_vro_g2o(data_index, dynamic_index, nFrame, g2o_file_name, g2o_dir_name, feature_flag, index_interval, cmp_option, dense_index, sparse_interval, dis)
if nargin < 9
... |
github | rising-turtle/slam_matlab-master | load_rossba.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/load_rossba.m | 5,851 | utf_8 | 90b136e61c9c391804c988e74286a1b7 | % Load input and output files of ROS SBA (http://www.ros.org/wiki/sba/Tutorials/IntroductionToSBA)
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/28/13
% Note : Camera pose, T, in input files and output files of ROS-SBA is inverse
% transformaton from camera N to camera N+1. In other words,
% camera0=inv(T)*ca... |
github | rising-turtle/slam_matlab-master | Convert_trajectory_threshold.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/Convert_trajectory_threshold.m | 1,762 | utf_8 | 72bcdd34eefa4c383e3ba6d58d35b109 | % Convert the color of a trajectory in the polygon file format (*.ply) for Meshlab
%
% Input parameters :
% input_file_name : Input file name in the polygon file format
% output_file_name : Output file name in the polygon file format
% threshold : Cut-off threshold of intensity values
% Usage :Convert_traje... |
github | rising-turtle/slam_matlab-master | run_pose_graph_optimization.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/run_pose_graph_optimization.m | 1,292 | utf_8 | 1836ed46d2469d0f4edec264b5926f13 | % Run pose graph optimization
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% History :
% 3/26/14 : Created
function [result, graph, initial, h_global, location_file_index, location_info_history]=run_pose_graph_optimization(vro_result, vro_pose_std, graph, initial, h_global, dis, location_flag, location_file_index, lo... |
github | rising-turtle/slam_matlab-master | get_global_transformation.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/get_global_transformation.m | 11,998 | utf_8 | 57e044f4869271c0316b4c195dadbd53 | % Get global transformation for each data set
%
% Author : Soonhac Hong (sxhong1@uarl.edu)
% Date : 10/22/12
function [h_global] = get_global_transformation(data_index, dynamic_index, isgframe)
addpath('..\slamtoolbox\slamToolbox_11_09_08\FrameTransforms\Rotations');
% rx, ry, rz : [degree]
% tx, ty, tz : [mm]
rx=0;... |
Subsets and Splits
No community queries yet
The top public SQL queries from the community will appear here once available.