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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 |
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github | rising-turtle/slam_matlab-master | convert_o2p.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/convert_o2p.m | 7,479 | utf_8 | 70a58785bd955704cf2b32c1bef2d43f | % Conver the odometery to the global pose
% t_pose [mm]
% o_pose [degree]
function [pose_index, e_t_pose, e_o_pose, fpts_h, trajectory_length] = convert_o2p(data_index, dynamic_index, f_index, t_pose, o_pose, feature_points, dense_index, sparse_interval, vro_cpp, isgframe)
% Generate the vertex using VRO
disp('Genera... |
github | rising-turtle/slam_matlab-master | convert_pc2ply.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/convert_pc2ply.m | 4,343 | utf_8 | ce019a6666159fe89cb31ddc38cbe20d | % Write 3D point clouds to a ply file
% Conver isp to ply for meshlab
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 4/1/13
function convert_pc2ply(ply_headers, ply_file_name, poses, data_index, dynamic_index, isgframe)
data_name_list=get_data_name_list(); %{'pitch', 'pan', 'roll','x2', 'y2', 'c1', 'c2','c3','... |
github | rising-turtle/slam_matlab-master | sr4k_p2T.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/sr4k_p2T.m | 637 | utf_8 | 1e2524708ba782ef96c7348c96648dab | % Compute transfomation matrix from 6 parameters[x,y,z,rx,ry,rz]
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 3/15/13
% Note : This funcion is limited for only SR4000 convention.
function T = sr4k_p2T(x)
Rx = @(a)[1 0 0;
0 cos(a) -sin(a);
0 sin(a) cos(a)];
Ry = ... |
github | rising-turtle/slam_matlab-master | compare_ros_sba_gtsam.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/compare_ros_sba_gtsam.m | 5,699 | utf_8 | 8c320dc4d91c3dbdae4e07bb24764292 | % Compare ROS-SBA and GTSAM
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/11/13
function [graph, initial] = compare_ros_sba_gtsam(file_name)
import gtsam.*
graphslam_addpath;
addpath('D:\soonhac\Project\PNBD\SW\ASEE\slamtoolbox\slamToolbox_11_09_08\FrameTransforms\Rotations');
addpath('D:\soonhac\Project\... |
github | rising-turtle/slam_matlab-master | load3D_SR4000.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/load3D_SR4000.m | 5,538 | utf_8 | 34124a286a9c2a94fcc615f3382dbf75 | function [graph,initial] = load3D_SR4000(pose_std_flag, sam_filename, pose_noise_model, successive,N,landmark_noise_model, pose_size, origin)
% load3D reads a TORO-style 3D pose graph
% cannot read noise model from file yet, uses specified model
% if [successive] is tru, constructs initial estimate from odometry
impor... |
github | rising-turtle/slam_matlab-master | load_vro.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/load_vro.m | 67,147 | utf_8 | d8a61122f53e3a82ebf7987b0712c7f2 | % Conver the results of VRO to the vertex and edges for g2o
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/22/12
function [f_index t_pose o_pose feature_points, pose_std, icp_ct] = load_vro(data_index, dynamic_data_index, nFrame, feature_flag, vro_cpp, vro_name, pose_std_flag, isgframe, min_matched_points, w... |
github | rising-turtle/slam_matlab-master | convert_vro_isam.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/convert_vro_isam.m | 27,716 | utf_8 | b164bdf3514139a7606b2c86e2ff7c2f | % Conver the results of VRO to the vertex and edges for isam
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/22/12
function [vro_size, e_t_pose_size, feature_points_visual] = convert_vro_isam(data_index, dynamic_index, nFrame, file_name, dir_name, feature_pose_name, feature_flag, index_interval, cmp_option, d... |
github | rising-turtle/slam_matlab-master | plot_graph_initial_result_v2.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/plot_graph_initial_result_v2.m | 2,500 | utf_8 | 5cd62b350668a961da282f46f29794f0 | % 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_v2(gtsam_pose_initial, gtsam_pose_result, location_flag, location_file_index, location_info_history, lcd_found)... |
github | rising-turtle/slam_matlab-master | check_duplication_imgidx.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/check_duplication_imgidx.m | 796 | utf_8 | 80452a3215ab628743b40fc9496c2173 | % Check single data duplication in data set by image index
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/5/13
function [duplication_index, duplication_flag] = check_duplication_imgidx(data_set, data, imgidx_distance_threshold)
duplication_index = 0;
duplication_flag = 0;
%distance_threshold = 41; ... |
github | rising-turtle/slam_matlab-master | plot_graph_initial_result_v0.m | .m | slam_matlab-master/ground_truth_zh/GraphSLAM/plot_graph_initial_result_v0.m | 1,224 | utf_8 | 792ffcfbb228623ba3e511993d46d083 | % Show plots of inital pose and optimized pose
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% History :
% 3/27/14 : Created
%
function plot_graph_initial_result_v0(gtsam_pose_initial, gtsam_pose_result)
import gtsam.*
% data_name_list = {'ODOMETRY','LANDMARK','EDGE3','VERTEX_SE3'};
keys = KeyVector(gtsam_pose_initia... |
github | rising-turtle/slam_matlab-master | moreindatatip.m | .m | slam_matlab-master/ground_truth_zh/slamtoolbox/slamToolbox_11_09_08/Graphics/moreindatatip.m | 3,133 | utf_8 | a282d8242a72fbe01e0564a1ef3c3d07 | function moreindatatip
% MOREINDATATIP Display index information in the data tip.
%
% Extends the displayed text of the datatip to get the index of the clicked
% point. The extension remains until the figure is deleted. If datatip(s)
% was previously present, a message prompts the user to right-click on the
% figure t... |
github | rising-turtle/slam_matlab-master | initNewLmk.m | .m | slam_matlab-master/ground_truth_zh/slamtoolbox/slamToolbox_11_09_08/InterfaceLevel/initNewLmk.m | 6,870 | utf_8 | 34d7ff329dfed725430c53a5095f1ecf | function [Lmk,Obs] = initNewLmk(Rob, Sen, Raw, Lmk, Obs, Opt)
%INITNEWLMK Initialise one landmark.
% [LMK, OBS] = INITNEWLMK(ROB, SEN, RAW, LMK, OBS) returns the new
% set of landmarks.
%
% This "new set" contains the "old set" plus new elements. These new
% elements are extracted from the recent observations... |
github | rising-turtle/slam_matlab-master | chi2.m | .m | slam_matlab-master/ground_truth_zh/slamtoolbox/slamToolbox_11_09_08/Math/chi2.m | 25,797 | utf_8 | 28d82af99c6ba03eec54f93ee2d67f95 | function chi2 = chi2(n,p)
% CHI2 Chi square distribution
% TH = CHI2(N,P) gives the critical values of the N-dimensional
% Chi-squared distribuiton function for a right-tail probability area P
% Copyright 2009 Joan Sola @ LAAS-CNRS.
[nTab,pTab,Chi2Tab] = chi2tab();
if (n == floor(n))
% values o... |
github | rising-turtle/slam_matlab-master | vecnorm.m | .m | slam_matlab-master/ground_truth_zh/slamtoolbox/slamToolbox_11_09_08/Math/vecnorm.m | 1,534 | utf_8 | 79b38e4a6fe6b82aa4e59d153995e278 | function [n, N_v] = vecnorm(v)
% VECNORM Vector norm, with Jacobian
% VECNORM(V) is the same as NORM(V)
%
% [n, N_v] = VECNORM(V) returns also the Jacobian.
if nargout == 1
n = sqrt(v'*v);
else
n = sqrt(v'*v);
N_v = v'/n;
end
end
%%
function f()
%%
syms v1 v2 real
v = [v1;v2];
[n,N_v] = vecnorm(v);
N... |
github | rising-turtle/slam_matlab-master | toFrameHmg.m | .m | slam_matlab-master/ground_truth_zh/slamtoolbox/slamToolbox_11_09_08/Points/toFrameHmg.m | 3,142 | utf_8 | 3a88bb83e7b0e927258f70d4fdd76b12 | function [hf,HF_f,HF_h] = toFrameHmg(F,h)
% TOFRAMEHMG To-frame transformation for homogeneous coordinates
% P = TOFRAMEHMG(F,PF) transforms homogeneous point P from the global
% frame to local frame F.
%
% [p,Pf,Ppf] = ... returns the Jacobians wrt F and PF.
% Copyright 2008-2011 Joan Sola @ LAAS-CNRS.
[... |
github | rising-turtle/slam_matlab-master | invDistortion.m | .m | slam_matlab-master/ground_truth_zh/slamtoolbox/slamToolbox_11_09_08/Observations/invDistortion.m | 4,410 | utf_8 | 01b198fd2276fbb194a08f453ffa5317 | function kc = invDistortion(kd,n,cal,draw)
% INVDISTORTION Radial distortion correction calibration.
%
% Kc = INVDISTORTION(Kd,n) computes the least squares optimal set
% of n parameters of the correction radial distortion function
% for a normalized camera:
%
% r = c(rd) = rd (1 + c2 rd^2 + ... + c2n rd^2n... |
github | rising-turtle/slam_matlab-master | generate_gt_wpattern5.m | .m | slam_matlab-master/ground_truth_zh/old_files/generate_gt_wpattern5.m | 16,501 | utf_8 | 4479f8c583f233d87a85308672b6940e | % Generate ground truth from motion capture data of MOTIVE
% Assumption : Motion caputre data of MOTIVE(file format : *.csv) has only double marker on SR4K
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 10/2/13
% Coordinate : PGO
function generate_gt_wpattern5()
clear all
%addpath('..\GraphSLAM');
%addpath('..\... |
github | rising-turtle/slam_matlab-master | generate_gt_wpattern_zh.m | .m | slam_matlab-master/ground_truth_zh/old_files/generate_gt_wpattern_zh.m | 6,046 | utf_8 | 4e613acccda20ab494be4c4951fa6fb4 | % Generate ground truth from motion capture data of MOTIVE, using Time to
% synchorize not the movement
% Assumption : Motion caputre data of MOTIVE(file format : *.csv) has at least 5 marker on SR4K
%
% Author : David Zhang (hxzhang1@ualr.edu)
% Date : 10/23/15
function generate_gt_wpattern_zh()
clear all
clc
clf
cl... |
github | rising-turtle/slam_matlab-master | rms_error_normal.m | .m | slam_matlab-master/ground_truth_zh/icp/rms_error_normal.m | 277 | utf_8 | a1bfee1c1d3a829a0bb4f6882f8c5275 | % Determine the RMS error between two point equally sized point clouds with
% point correspondance.
% ER = rms_error(p1,p2) where p1 and p2 are 3xn matrices.
function ER = rms_error_normal(p1,p2,p1_normal)
dsq = sum(power((p1 - p2).*p1_normal, 2),1);
ER = sqrt(mean(dsq));
end |
github | rising-turtle/slam_matlab-master | lsqnormest.m | .m | slam_matlab-master/ground_truth_zh/icp/lsqnormest.m | 1,162 | utf_8 | 4ea5bbbdd9266bde1adffd19ecc5f10e | % Least squares normal estimation from point clouds using PCA
%
% H. Hoppe, T. DeRose, T. Duchamp, J. McDonald, and W. Stuetzle.
% Surface reconstruction from unorganized points.
% In Proceedings of ACM Siggraph, pages 71:78, 1992.
%
% p should be a matrix containing the horizontally concatenated column
% vectors wit... |
github | rising-turtle/slam_matlab-master | rms_error.m | .m | slam_matlab-master/ground_truth_zh/icp/rms_error.m | 247 | utf_8 | 8ff81ab921610f97c536215259e9957a | % Determine the RMS error between two point equally sized point clouds with
% point correspondance.
% ER = rms_error(p1,p2) where p1 and p2 are 3xn matrices.
function ER = rms_error(p1,p2)
dsq = sum(power(p1 - p2, 2),1);
ER = sqrt(mean(dsq));
end |
github | rising-turtle/slam_matlab-master | k_nearest_neighbors.m | .m | slam_matlab-master/ground_truth_zh/icp/k_nearest_neighbors.m | 870 | utf_8 | 461d1ce66128cf3312da2e03c4d373c7 | % Program to find the k - nearest neighbors (kNN) within a set of points.
% Distance metric used: Euclidean distance
%
% Note that this function makes repetitive use of min(), which seems to be
% more efficient than sort() for k < 30.
function [neighborIds neighborDistances] = k_nearest_neighbors(dataMatrix, queryMat... |
github | rising-turtle/slam_matlab-master | icp.m | .m | slam_matlab-master/ground_truth_zh/icp/icp.m | 18,490 | utf_8 | 0eafe0415df79a022b03af16bd28f313 | function [TR, TT, ER, t] = icp(q,p,varargin)
% Perform the Iterative Closest Point algorithm on three dimensional point
% clouds.
%
% [TR, TT] = icp(q,p) returns the rotation matrix TR and translation
% vector TT that minimizes the distances from (TR * p + TT) to q.
% p is a 3xm matrix and q is a 3xn matrix.
%
% [TR,... |
github | rising-turtle/slam_matlab-master | rms_error_normal.m | .m | slam_matlab-master/ground_truth_zh/icp/icp/rms_error_normal.m | 277 | utf_8 | a1bfee1c1d3a829a0bb4f6882f8c5275 | % Determine the RMS error between two point equally sized point clouds with
% point correspondance.
% ER = rms_error(p1,p2) where p1 and p2 are 3xn matrices.
function ER = rms_error_normal(p1,p2,p1_normal)
dsq = sum(power((p1 - p2).*p1_normal, 2),1);
ER = sqrt(mean(dsq));
end |
github | rising-turtle/slam_matlab-master | lsqnormest.m | .m | slam_matlab-master/ground_truth_zh/icp/icp/lsqnormest.m | 1,162 | utf_8 | 4ea5bbbdd9266bde1adffd19ecc5f10e | % Least squares normal estimation from point clouds using PCA
%
% H. Hoppe, T. DeRose, T. Duchamp, J. McDonald, and W. Stuetzle.
% Surface reconstruction from unorganized points.
% In Proceedings of ACM Siggraph, pages 71:78, 1992.
%
% p should be a matrix containing the horizontally concatenated column
% vectors wit... |
github | rising-turtle/slam_matlab-master | rms_error.m | .m | slam_matlab-master/ground_truth_zh/icp/icp/rms_error.m | 247 | utf_8 | 8ff81ab921610f97c536215259e9957a | % Determine the RMS error between two point equally sized point clouds with
% point correspondance.
% ER = rms_error(p1,p2) where p1 and p2 are 3xn matrices.
function ER = rms_error(p1,p2)
dsq = sum(power(p1 - p2, 2),1);
ER = sqrt(mean(dsq));
end |
github | rising-turtle/slam_matlab-master | k_nearest_neighbors.m | .m | slam_matlab-master/ground_truth_zh/icp/icp/k_nearest_neighbors.m | 870 | utf_8 | 461d1ce66128cf3312da2e03c4d373c7 | % Program to find the k - nearest neighbors (kNN) within a set of points.
% Distance metric used: Euclidean distance
%
% Note that this function makes repetitive use of min(), which seems to be
% more efficient than sort() for k < 30.
function [neighborIds neighborDistances] = k_nearest_neighbors(dataMatrix, queryMat... |
github | rising-turtle/slam_matlab-master | icp.m | .m | slam_matlab-master/ground_truth_zh/icp/icp/icp.m | 18,490 | utf_8 | 0eafe0415df79a022b03af16bd28f313 | function [TR, TT, ER, t] = icp(q,p,varargin)
% Perform the Iterative Closest Point algorithm on three dimensional point
% clouds.
%
% [TR, TT] = icp(q,p) returns the rotation matrix TR and translation
% vector TT that minimizes the distances from (TR * p + TT) to q.
% p is a 3xm matrix and q is a 3xn matrix.
%
% [TR,... |
github | rising-turtle/slam_matlab-master | sampling_vro.m | .m | slam_matlab-master/ground_truth_zh/Localization/sampling_vro.m | 1,168 | utf_8 | 6034c6abcaf471707991c8ae56168921 | % Sampling VRO with interval
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 12/13/13
function sampling_vro()
% Load data
file_name = '498_frame_abs_intensity_sift_i_r_s_i_t_t_c_i_a_c_c_featureidxfix_fast_fast_dist2_nobpc_20st_gaussian_0.dat';
vro = load(file_name);
% Sample VRO with interval
interval = 15;
ne... |
github | rising-turtle/slam_matlab-master | load_pose_std.m | .m | slam_matlab-master/ground_truth_zh/Localization/load_pose_std.m | 1,367 | utf_8 | 329d9ca060491048ca17bf713699f70a | % Load matched points from a file
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 3/11/2013
function [pose_std] = load_pose_std(data_name, dm, first_cframe, second_cframe, isgframe, sequence_data)
[prefix, confidence_read] = get_sr4k_dataset_prefix(data_name, dm);
if sequence_data == true
if strcmp(data_name... |
github | rising-turtle/slam_matlab-master | compute_pose_std.m | .m | slam_matlab-master/ground_truth_zh/Localization/compute_pose_std.m | 1,000 | utf_8 | 92a7ecfe7741a125b61cc27344fc802d | % Compute covariance of vro
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 3/10/11
%
% Reference : [cov_pose_shift,q_dpose,T_dpose] = bootstrap_cov_calc(idx1,idx2)
%
function [pose_std] = compute_pose_std(op_pset1,op_pset2,rot_mean, trans_mean)
nData = size(op_pset1,2);
sampleSize = min(40,floor(0.75*nData));
n... |
github | rising-turtle/slam_matlab-master | plot3D_SR4000.m | .m | slam_matlab-master/ground_truth_zh/Localization/plot3D_SR4000.m | 3,960 | utf_8 | 1fa97498efe83036ca0b2f13f56ec8b3 | % Each .dat file is a data frame captured from the camera. It contains five 2-D arrays each of which
% represent z (Calibrated Distance), x (Calibrated xVector), y (Calibrated xVector), Amplitude, and Confidence Map.
% The following code read and render the Amplitude (intensity) image.
% Add showing the depth image
%... |
github | rising-turtle/slam_matlab-master | get_swing_filename.m | .m | slam_matlab-master/ground_truth_zh/Localization/get_swing_filename.m | 515 | utf_8 | 81d7d419d6b297f2c3a4b164c679583b | % Get directory name of motive datasets
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 11/20/13
function motive_filename_lists=get_swing_filename()
motive_filename_lists = {'forward1','forward2','forward3','forward4','forward5','forward6','forward7','forward8', 'forward9','forward10','forward11','forward12'... |
github | rising-turtle/slam_matlab-master | save_visual_features.m | .m | slam_matlab-master/ground_truth_zh/Localization/save_visual_features.m | 1,181 | utf_8 | ba22c81ae039ca48c4065d21de093e35 | % Save sift visual feature into a file
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/13/2013
function save_visual_features(data_name, dm, cframe, frm, des, elapsed_sift, img, x, y, z, c, elapsed_pre, sequence_data, image_name)
[prefix, confidence_read] = get_sr4k_dataset_prefix(data_name, dm);
if sequence_da... |
github | rising-turtle/slam_matlab-master | localization_sift_ransac_limit_cov_fast_fast.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_sift_ransac_limit_cov_fast_fast.m | 16,231 | utf_8 | 84b24dd4aa8859f73260befb87e72c1e | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | scale_img.m | .m | slam_matlab-master/ground_truth_zh/Localization/scale_img.m | 871 | utf_8 | d55161e3ee78642f5867dc40bdcc1d82 | % Scale and smoothing image
%
% Parameters
% img : input image
% fw : the size of median filter
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 4/21/11
function [img] = scale_img(img, fw, value_type, data_type)
[m, n, v] = find (img>65000); %????
imgt=img;
num=size(m,1);
for kk=1:num
imgt(m(kk), n(kk... |
github | rising-turtle/slam_matlab-master | compensate_badpixel.m | .m | slam_matlab-master/ground_truth_zh/Localization/compensate_badpixel.m | 1,844 | utf_8 | f28d56efdbf5d1e06c25dd3f07945a90 | % 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(img, x, y, z, c, confidence_cut_off)
e_index = c < confidence_cut_off;
for i = 1:size(img,1) % row
for j=1:size(img,2) % column... |
github | rising-turtle/slam_matlab-master | check_stored_depth_feature.m | .m | slam_matlab-master/ground_truth_zh/Localization/check_stored_depth_feature.m | 812 | utf_8 | a037ad501e066d47ebf04737a0196091 | % Check if there is the stored visual feature
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/13/2013
function [exist_flag] = check_stored_depth_feature(data_name, dm, cframe)
exist_flag = 0;
[prefix, confidence_read] = get_sr4k_dataset_prefix(data_name, dm);
dataset_dir = strrep(prefix, '/d1','');
dataset_di... |
github | rising-turtle/slam_matlab-master | localization_sift_ransac_limit_icp2_cov_fast.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_sift_ransac_limit_icp2_cov_fast.m | 17,406 | utf_8 | b03f8f6fe4f24a2e9865f15785efe46f | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | LoadKinect_depthbased.m | .m | slam_matlab-master/ground_truth_zh/Localization/LoadKinect_depthbased.m | 2,589 | utf_8 | eda775a4e73610c0ffdbdb3d7c327da6 | % Load data from Kinect
%
% 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 [img, X, Y, Z, rtime, depth_time_stamp] = LoadKinect_depthbased(dm, j)
t_load = tic;
dir_name_list = get... |
github | rising-turtle/slam_matlab-master | vro_icp_9_cov.m | .m | slam_matlab-master/ground_truth_zh/Localization/vro_icp_9_cov.m | 10,624 | utf_8 | e5d049b0e1df183d4947e039b8a2e8bf | % This function compute the transformation of two 3D point clouds by ICP
%
% Parameters :
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 9/20/12
% ICP6 + convexhull = ICP9
function [phi_icp, theta_icp, psi_icp, trans_icp, match_rmse, match_num, elapsed_time, sta_icp, error, pose_std] = vro_icp_9_cov(op_pset1,... |
github | rising-turtle/slam_matlab-master | get_it_filename.m | .m | slam_matlab-master/ground_truth_zh/Localization/get_it_filename.m | 231 | utf_8 | 41b2a3e2134a87f097824cc0957c80a2 | % Get directory name of motive datasets
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 11/20/13
function it_filename_lists=get_it_filename()
it_filename_lists = {'it30','it50','it70','it90','it110','it130','it150'};
end |
github | rising-turtle/slam_matlab-master | check_stored_visual_feature.m | .m | slam_matlab-master/ground_truth_zh/Localization/check_stored_visual_feature.m | 1,230 | utf_8 | 08b710330ed346960fc4aa626de7a5d7 | % Check if there is the stored visual feature
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/13/2013
function [exist_flag] = check_stored_visual_feature(data_name, dm, cframe, sequence_data, image_name)
exist_flag = 0;
[prefix, confidence_read] = get_sr4k_dataset_prefix(data_name, dm);
if sequence_data == tr... |
github | rising-turtle/slam_matlab-master | localization_siftgpu_ransac_limit_cov_fast_fast_dist2_nobpc_bin.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_siftgpu_ransac_limit_cov_fast_fast_dist2_nobpc_bin.m | 20,509 | utf_8 | a8f61fb98d61082f56a6b7478ddf0d08 | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | localization_sift_ransac_limit_cov_fast_fast_dist2_nobpc_svde6.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_sift_ransac_limit_cov_fast_fast_dist2_nobpc_svde6.m | 17,644 | utf_8 | 59d68df885879e92e4bb12165cf177a0 | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | check_feature_distance_icp.m | .m | slam_matlab-master/ground_truth_zh/Localization/check_feature_distance_icp.m | 781 | utf_8 | 04b938571127b8ecb8e8139ba603a597 | % Check the distance of feaure points
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 4/5/13
function [op_pset1, op_pset2] = check_feature_distance_icp(op_pset1, op_pset2)
distance_min = 0.8;
distance_max = 5;
op_pset1_distance = sqrt(sum(op_pset1.^2));
op_pset2_distance = sqrt(sum(op_pset2.^2));
op_pset1_dis... |
github | rising-turtle/slam_matlab-master | load_visual_features.m | .m | slam_matlab-master/ground_truth_zh/Localization/load_visual_features.m | 1,115 | utf_8 | b287b4545e4f246bec0e76880f2e3716 | % Load sift visual feature from a file
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/13/2013
function [frm, des, elapsed_sift, img, x, y, z, c, elapsed_pre] = load_visual_features(data_name, dm, cframe, sequence_data, image_name)
[prefix, confidence_read] = get_sr4k_dataset_prefix(data_name, dm);
if sequence... |
github | rising-turtle/slam_matlab-master | load_matched_points.m | .m | slam_matlab-master/ground_truth_zh/Localization/load_matched_points.m | 950 | utf_8 | 1a99af336cb68c960b51337530b7259d | % Load matched points from a file
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 3/11/2013
function [match_num, ransac_iteration, op_pset1_image_index, op_pset2_image_index, op_pset_cnt, elapsed_match, elapsed_ransac, op_pset1, op_pset2] = load_matched_points(data_name, dm, first_cframe, second_cframe, isgframe... |
github | rising-turtle/slam_matlab-master | vro_icp_6_cov.m | .m | slam_matlab-master/ground_truth_zh/Localization/vro_icp_6_cov.m | 10,511 | utf_8 | 641524042e16a232c87308d355249f26 | % This function compute the transformation of two 3D point clouds by ICP
%
% Parameters :
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 9/20/12
function [phi_icp, theta_icp, psi_icp, trans_icp, match_rmse, match_num, elapsed_time, sta_icp, error, pose_std] = vro_icp_6_cov(op_pset1, op_pset2, rot, trans, x1, ... |
github | rising-turtle/slam_matlab-master | vro_icp_9_cov_tol_batch.m | .m | slam_matlab-master/ground_truth_zh/Localization/vro_icp_9_cov_tol_batch.m | 11,537 | utf_8 | 59fe048123dca9a364123c99bde295e7 | % This function compute the transformation of two 3D point clouds by ICP
%
% Parameters :
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 9/20/12
% ICP6 + convexhull = ICP9
% ICP9_cov + tolerance adjustment = ICP9_cov_tol
function [phi_icp, theta_icp, psi_icp, trans_icp, match_rmse, match_num, elapsed_time, st... |
github | rising-turtle/slam_matlab-master | localization_sift_ransac_limit_icp2_cov_fast_fast.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_sift_ransac_limit_icp2_cov_fast_fast.m | 19,935 | utf_8 | b2230e5879dca9b7519e5b3b37483454 | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | vro_icp_9_cov_tol_dist.m | .m | slam_matlab-master/ground_truth_zh/Localization/vro_icp_9_cov_tol_dist.m | 10,953 | utf_8 | db7a3f2c470869a3f34f6a0b48cec836 | % This function compute the transformation of two 3D point clouds by ICP
%
% Parameters :
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 9/20/12
% ICP6 + convexhull = ICP9
% ICP9_cov + tolerance adjustment = ICP9_cov_tol
function [phi_icp, theta_icp, psi_icp, trans_icp, match_rmse, match_num, elapsed_time, st... |
github | rising-turtle/slam_matlab-master | check_stored_matched_points.m | .m | slam_matlab-master/ground_truth_zh/Localization/check_stored_matched_points.m | 1,184 | utf_8 | 1620fb7c613849c92ba3def37bcd39da | % Check if there is the stored matched points
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 3/11/2013
function [exist_flag] = check_stored_matched_points(data_name, dm, first_cframe, second_cframe, isgframe, sequence_data)
exist_flag = 0;
[prefix, confidence_read] = get_sr4k_dataset_prefix(data_name, dm);
if ... |
github | rising-turtle/slam_matlab-master | rot_to_euler.m | .m | slam_matlab-master/ground_truth_zh/Localization/rot_to_euler.m | 1,068 | utf_8 | 5338a4d30525b25e07f1db2f561d509b | % Calculate the euler angle(yaw, pitch, roll) from rotation matrix
%
% Yaw is a counterclockwise rotation of phi(alpha) about the z-axis
% Pitch is a counterclockwise rotation of theta(beta) about the y-axis
% Roll is a counterclockwise rotation of psi(gamma) about the x-axis
%
% Author : Soonhac Hong (sxhong1@ualr.edu... |
github | rising-turtle/slam_matlab-master | vro_icp_9_cov_tol_batch_dist.m | .m | slam_matlab-master/ground_truth_zh/Localization/vro_icp_9_cov_tol_batch_dist.m | 11,663 | utf_8 | 012db11e606c43c3d00d9a83614fbd7c | % This function compute the transformation of two 3D point clouds by ICP
%
% Parameters :
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 9/20/12
% ICP6 + convexhull = ICP9
% ICP9_cov + tolerance adjustment = ICP9_cov_tol
function [phi_icp, theta_icp, psi_icp, trans_icp, match_rmse, match_num, elapsed_time, st... |
github | rising-turtle/slam_matlab-master | load_icp_pose.m | .m | slam_matlab-master/ground_truth_zh/Localization/load_icp_pose.m | 1,573 | utf_8 | 0187e4f56957260f4e18836e5804c8cf | % Load matched points from a file
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 3/11/2013
%function [match_num, ransac_iteration, op_pset1_image_index, op_pset2_image_index, op_pset_cnt, elapsed_match, elapsed_ransac, op_pset1, op_pset2] = load_matched_points(data_name, dm, first_cframe, second_cframe, isgfram... |
github | rising-turtle/slam_matlab-master | localization_sift_ransac_limit_cov_fast_fast_dist.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_sift_ransac_limit_cov_fast_fast_dist.m | 16,414 | utf_8 | 6d555711bc67c37d10257bef2804a3ea | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | localization_sift_ransac_limit_cov_fast_fast_dist2.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_sift_ransac_limit_cov_fast_fast_dist2.m | 17,174 | utf_8 | 9d45403332d443c4e248983141bed911 | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | save_depth_features.m | .m | slam_matlab-master/ground_truth_zh/Localization/save_depth_features.m | 429 | utf_8 | ac126f69540fa93b52e177bf4693644c | % Save sift visual feature into a file
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/13/2013
function save_depth_features(data_name, dm, cframe, depth_frm, depth_des, depth_ct)
[prefix, confidence_read] = get_sr4k_dataset_prefix(data_name, dm);
dataset_dir = strrep(prefix, '/d1','');
file_name = sprintf('%s/... |
github | rising-turtle/slam_matlab-master | get_kinect_tum_dir_name.m | .m | slam_matlab-master/ground_truth_zh/Localization/get_kinect_tum_dir_name.m | 823 | utf_8 | 54ffe57adc759fb2881357d54c5bc99e | % Get directory name of kinect_tum data set
%
% Parameters
% dm : index of directory of data
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 9/25/12
function [dir_name_list]=get_kinect_tum_dir_name()
dir_name_list={'rgbd_dataset_freiburg1_xyz','rgbd_dataset_freiburg1_floor','rgbd_dataset_freiburg2_large_no_lo... |
github | rising-turtle/slam_matlab-master | get_map_filename.m | .m | slam_matlab-master/ground_truth_zh/Localization/get_map_filename.m | 268 | utf_8 | af875fbea341b78297f219d2a569d248 | % Get directory name of motive datasets
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 11/20/13
function map_filename_lists=get_map_filename()
map_filename_lists = {'map1','map2','map3','map4','map5','map6','map7','map8','map9','it50','it100','it150'};
end |
github | rising-turtle/slam_matlab-master | localization_sift_ransac_limit_icp2_cov_f_f_dist2_loadicp_nobpc.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_sift_ransac_limit_icp2_cov_f_f_dist2_loadicp_nobpc.m | 23,316 | utf_8 | 7a78d4b89d5c7e17ecaa11af211713c6 | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | vro_icp_9_cov_tol_dist_EKF.m | .m | slam_matlab-master/ground_truth_zh/Localization/vro_icp_9_cov_tol_dist_EKF.m | 11,437 | utf_8 | 9c985fd9089bbf1de243e1f8f0ab0be1 | % This function compute the transformation of two 3D point clouds by ICP
%
% Parameters :
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 9/20/12
% ICP6 + convexhull = ICP9
% ICP9_cov + tolerance adjustment = ICP9_cov_tol
% ICP9_cov_tol_dist + adjust coordinate for EKF = ICP9_cov_tol_dist_EKF
function [phi_icp... |
github | rising-turtle/slam_matlab-master | LoadSR_no_bpc_time_single_binary.m | .m | slam_matlab-master/ground_truth_zh/Localization/LoadSR_no_bpc_time_single_binary.m | 6,295 | utf_8 | c01368aeffe7d712b1c93d366697a3ee | % Load data from Swiss Ranger
%
% 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
% No bad pixel compensation
function [img, x, y, z, c, rtime, error] = LoadSR_no_bpc_time_single_binary(dat... |
github | rising-turtle/slam_matlab-master | confidence_filter.m | .m | slam_matlab-master/ground_truth_zh/Localization/confidence_filter.m | 633 | utf_8 | 736f36b137dc30db3995599cb4ed1cb3 | % Eliminate the points by confidence map
function [updated_match] = confidence_filter(match, pset1_index, pset2_index, c1, c2)
% confidence_threshold = 3;
confidence_threshold_percentage = 0.4;
confidence_threshold_1 = floor((max(max(c1)) - min(min(c1))) * confidence_threshold_percentage);
confidence_threshold_2 = floo... |
github | rising-turtle/slam_matlab-master | vro_icp_9_cov_tol.m | .m | slam_matlab-master/ground_truth_zh/Localization/vro_icp_9_cov_tol.m | 10,748 | utf_8 | 47385bb52bb3f1b4eda923d9ea20d7d9 | % This function compute the transformation of two 3D point clouds by ICP
%
% Parameters :
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 9/20/12
% ICP6 + convexhull = ICP9
% ICP9_cov + tolerance adjustment = ICP9_cov_tol
function [phi_icp, theta_icp, psi_icp, trans_icp, match_rmse, match_num, elapsed_time, st... |
github | rising-turtle/slam_matlab-master | localization_sift_ransac_limit_cov_fast.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_sift_ransac_limit_cov_fast.m | 14,320 | utf_8 | 4a81d4c1c55144dcff1bb08eb0eb1664 | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | get_data_name_list.m | .m | slam_matlab-master/ground_truth_zh/Localization/get_data_name_list.m | 350 | utf_8 | 32051a0a56ef1fde60cf550e437b7861 | % Get data name list
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 12/2/13
function data_name_list=get_data_name_list()
data_name_list = {'pitch','pan','roll','x2','y2','c1','c2', 'c3', 'c4','m','etas','loops','kinect_tum','loops2','amir_vro','sparse_feature','swing','swing2','motive','object_recognition'... |
github | rising-turtle/slam_matlab-master | concatenate_files.m | .m | slam_matlab-master/ground_truth_zh/Localization/concatenate_files.m | 2,428 | utf_8 | 4a5f7b78f540db97fd0f5f804c370bb2 | % Concatenate result files
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 3/4/13
function concatenate_files()
%data_name = 'sparse_feature';
data_name = 'object_recognition'; %'sparse_feature'; %'etas'; %'loops2';
dynamic_index = 16;
data_type_index = 3; % select data type; See data_type
data_type={'','_pose_s... |
github | rising-turtle/slam_matlab-master | localization_sift_ransac_limit_cov_fast_fast_dist2_nobpc_text.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_sift_ransac_limit_cov_fast_fast_dist2_nobpc_text.m | 20,852 | utf_8 | 1da2b2cbb6975181a2ec503bad42c23a | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | localization_sift_ransac_limit_icp2_cov_fast_fast_dist2.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_sift_ransac_limit_icp2_cov_fast_fast_dist2.m | 21,044 | utf_8 | f999be537c4198a4027573b0d293d8e8 | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | get_object_recognition_filename.m | .m | slam_matlab-master/ground_truth_zh/Localization/get_object_recognition_filename.m | 538 | utf_8 | fe6f6bb535b834d17035b2783e64b452 | % Get directory name of motive datasets
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 11/20/13
function motive_filename_lists=get_object_recognition_filename()
motive_filename_lists = {'floor1','indoor_monitor_1','indoor_doorway_1','indoor_monitor_2','indoor_stairway_1','indoor_stairway_2','indoor_stairway... |
github | rising-turtle/slam_matlab-master | copy_sr4k_files.m | .m | slam_matlab-master/ground_truth_zh/Localization/copy_sr4k_files.m | 1,390 | utf_8 | 4259d34333c45fe053ca49fb12dd77f4 | % Copy files to a designated directory
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/15/13
function copy_sr4k_files()
source_dir = 'F:\home_sc_data\l2o'; %'E:\data\swing\revisiting10_10m' %; % %''E:/data/sparse_feature/exp4_etas_2nd'
%destination_dir = 'C:\SC-DATA-TRANSFER';
destination_dir = sprintf('%s/pr... |
github | rising-turtle/slam_matlab-master | save_icp_pose.m | .m | slam_matlab-master/ground_truth_zh/Localization/save_icp_pose.m | 1,449 | utf_8 | 1dbca54b1c887539d2074a5459abc5db | % Save matched points into a file
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 8/12/2013
function save_icp_pose(data_name, dm, first_cframe, second_cframe, icp_mode, sequence_data, phi_icp, theta_icp, psi_icp, trans_icp, rmse_icp, match_num, elapsed_icp, sta_icp, error, pose_std)
[prefix, confidence_read] = ... |
github | rising-turtle/slam_matlab-master | LoadSR_no_bpc.m | .m | slam_matlab-master/ground_truth_zh/Localization/LoadSR_no_bpc.m | 3,982 | utf_8 | 86bd582604e93f27c5f6f237343ea294 | % Load data from Swiss Ranger
%
% 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
% No bad pixel compensation
function [img, x, y, z, c, rtime] = LoadSR_no_bpc(data_name, filter_name, board... |
github | rising-turtle/slam_matlab-master | get_motive_filename.m | .m | slam_matlab-master/ground_truth_zh/Localization/get_motive_filename.m | 806 | utf_8 | 9f66fc9c9102dc46b086a8818cff3946 | % Get directory name of motive datasets
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 11/20/13
function motive_filename_lists=get_motive_filename()
motive_filename_lists = {'move_forward','swing_forward','move_loop','swing_loop','move_loop_2','move_loop_3','swing_loop_2','m5_loop','m5_loop_2','m5_swing_loo... |
github | rising-turtle/slam_matlab-master | localization_sift_ransac_limit_cov.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_sift_ransac_limit_cov.m | 13,451 | utf_8 | 05fdb67deba8117bf940baeee024754b | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | run_ransac_points.m | .m | slam_matlab-master/ground_truth_zh/Localization/run_ransac_points.m | 2,268 | utf_8 | 282c75429fdbf0eb0159f9aac971d395 | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% pt1 : point cloud of data set (n x m) n : data dimensionality
% pt2 : point cloud of data set (n x m) n : data dimensionality
% match : mat... |
github | rising-turtle/slam_matlab-master | LoadSR.m | .m | slam_matlab-master/ground_truth_zh/Localization/LoadSR.m | 3,943 | utf_8 | baf1a3a507ef76292082b44303a3d65b | % Load data from Swiss Ranger
%
% 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 [img, x, y, z, c, rtime] = LoadSR(data_name, filter_name, boarder_cut_off, dm, j, scale, type_value... |
github | rising-turtle/slam_matlab-master | get_dir_name.m | .m | slam_matlab-master/ground_truth_zh/Localization/get_dir_name.m | 2,287 | utf_8 | ded775277a379e337e56f9430ba2560e | % Get directory name of each data se
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 4/4/13
function dir_name = get_dir_name(data_name)
switch data_name
case'py_xy_data_sr4000'
dir_name = {'0','y12_x-8_p-5.3_y5'};
case 'c1'
dir_name = {'0','y-3_p6_x100','y-12_p9_x300','y-6_p12_x500'};
... |
github | rising-turtle/slam_matlab-master | save_pose_std.m | .m | slam_matlab-master/ground_truth_zh/Localization/save_pose_std.m | 1,374 | utf_8 | 94abed80c2732098f1ef02641015c5f9 | % Save matched points into a file
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/13/2013
function save_pose_std(data_name, dm, first_cframe, second_cframe, pose_std, isgframe, sequence_data)
[prefix, confidence_read] = get_sr4k_dataset_prefix(data_name, dm);
if sequence_data == true
if strcmp(data_name, '... |
github | rising-turtle/slam_matlab-master | check_stored_icp_pose.m | .m | slam_matlab-master/ground_truth_zh/Localization/check_stored_icp_pose.m | 1,201 | utf_8 | 7af72ceae02de07502cf86983c93c78b | % Check if there is the stored matched points
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 8/12/2013
function [exist_flag] = check_stored_icp_pose(data_name, dm, first_cframe, second_cframe, icp_mode, sequence_data)
exist_flag = 0;
[prefix, confidence_read] = get_sr4k_dataset_prefix(data_name, dm);
if sequen... |
github | rising-turtle/slam_matlab-master | localization_sift_ransac_limit_icp2_cov_fast_fast_dist.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_sift_ransac_limit_icp2_cov_fast_fast_dist.m | 20,434 | utf_8 | c03980c62e56add66fadbcc1d0662a38 | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | localization_sift_ransac_limit_cov_fast_fast_dist2_nobpc.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_sift_ransac_limit_cov_fast_fast_dist2_nobpc.m | 17,831 | utf_8 | 8d2f4aba8fde338deb7f7eacf2abf598 | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | localization_addpath.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_addpath.m | 502 | utf_8 | fe374d186ac7f5b67dfa33ec164d888a | % Add the path for graph slam
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 10/16/12
function localization_addpath
addpath('D:\Soonhac\SW\icp');
addpath('D:\Soonhac\SW\kdtree');
addpath('D:\Soonhac\SW\LevenbergMarquardt');
addpath('D:\Soonhac\SW\SIFT\sift-0.9.19-bin\sift');
%addpath('D:\Soonhac\SW\SIFT\SIFTGP... |
github | rising-turtle/slam_matlab-master | localization_sift_ransac_limit_cov_fast_fast_dist2_nobpc_binary.m | .m | slam_matlab-master/ground_truth_zh/Localization/localization_sift_ransac_limit_cov_fast_fast_dist2_nobpc_binary.m | 20,311 | utf_8 | 67ee44d670077f91dc97c883a2faf22b | % This function computes the pose of the sensor between two data set from
% SR400 using SIFT . The orignial function was vot.m in the ASEE/pitch_4_plot1.
%
% Parameters :
% dm : number of prefix of directory containing the first data set.
% inc : relative number of prefix of directory containing the second data s... |
github | rising-turtle/slam_matlab-master | save_matched_points.m | .m | slam_matlab-master/ground_truth_zh/Localization/save_matched_points.m | 1,099 | utf_8 | a1d872acde1b9be2e749a1768097b780 | % Save matched points into a file
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/13/2013
function save_matched_points(data_name, dm, first_cframe, second_cframe, match_num, ransac_iteration, op_pset1_image_index, op_pset2_image_index, op_pset_cnt, elapsed_match, elapsed_ransac, op_pset1, op_pset2, isgframe, s... |
github | rising-turtle/slam_matlab-master | get_kinect_tum_dir_name_vro_cpp.m | .m | slam_matlab-master/ground_truth_zh/Localization/get_kinect_tum_dir_name_vro_cpp.m | 355 | utf_8 | 4dd3f8a1ba991e4517e0073c27ad290d | % Get directory name of kinect_tum data set
%
% Parameters
% dm : index of directory of data
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 9/25/12
function [dir_name_list]=get_kinect_tum_dir_name()
dir_name_list={'freiburg1_xyz','freiburg1_floor','freiburg2_large_no_loop','freiburg2_large_with_loop'};
%dir_... |
github | rising-turtle/slam_matlab-master | LoadKinect.m | .m | slam_matlab-master/ground_truth_zh/Localization/LoadKinect.m | 1,839 | utf_8 | 45cf2fbc839ba26005f6f0a47ddc3e1d | % Load data from Kinect
%
% 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 [img, X, Y, Z, rtime] = LoadKinect(dm, j)
t_load = tic;
dir_name = get_kinect_tum_dir_name();
[rgb_data_... |
github | rising-turtle/slam_matlab-master | copy_sr4k_files_t2b.m | .m | slam_matlab-master/ground_truth_zh/Localization/copy_sr4k_files_t2b.m | 1,774 | utf_8 | 70e0e7831a817f3749fca6eb9ac61020 | % Copy files to a designated directory from text to binary
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/15/13
function copy_sr4k_files_t2b()
source_dir = 'D:\Soonhac\Data\sr4k\swing\revisiting9'; %'E:\data\Amir\processed_data\exp1_bus_door_straight_150_Copy'; %'E:\data\swing\revisiting2_10m\processed_data'... |
github | rising-turtle/slam_matlab-master | get_swing_filename_backup.m | .m | slam_matlab-master/ground_truth_zh/Localization/get_swing_filename_backup.m | 602 | utf_8 | 64c7715196e67deccaa8180a055072c3 | % Get directory name of motive datasets
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 11/20/13
function motive_filename_lists=get_swing_filename_backup()
motive_filename_lists = {'forward1','forward2','forward3','forward4','forward5','forward6','forward7_10m','forward8_10m', 'forward9_10m','forward10_10m',... |
github | rising-turtle/slam_matlab-master | plotmatches_multi.m | .m | slam_matlab-master/ground_truth_zh/Localization/plotmatches_multi.m | 10,894 | utf_8 | 1abc9136006be4112288feadc80f61fa | function h=plotmatches_multi(I1,I2,P1,P2,matches,matches2,varargin)
% PLOTMATCHES Plot keypoint matches
% PLOTMATCHES(I1,I2,P1,P2,MATCHES) plots the two images I1 and I2
% and lines connecting the frames (keypoints) P1 and P2 as specified
% by MATCHES.
%
% P1 and P2 specify two sets of frames, one per column. ... |
github | rising-turtle/slam_matlab-master | load_depth_features.m | .m | slam_matlab-master/ground_truth_zh/Localization/load_depth_features.m | 397 | utf_8 | 73b869902c9029fed3f113649c1e42e6 | % Load sift visual feature from a file
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 2/13/2013
function [depth_frm, depth_des, depth_ct] = load_depth_features(data_name, dm, cframe)
[prefix, confidence_read] = get_sr4k_dataset_prefix(data_name, dm);
dataset_dir = strrep(prefix, '/d1','');
file_name = sprintf('... |
github | rising-turtle/slam_matlab-master | check_feature_distance.m | .m | slam_matlab-master/ground_truth_zh/Localization/check_feature_distance.m | 1,190 | utf_8 | 17b466611fb0573eb8e7667c8b2663d2 | % Check the distance of feaure points
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 4/5/13
function [op_pset1, op_pset2, op_pset_cnt, op_pset1_image_index, op_pset2_image_index] = check_feature_distance(op_pset1, op_pset2, op_pset_cnt, op_pset1_image_index, op_pset2_image_index)
distance_min = 0.8;
distance_m... |
github | rising-turtle/slam_matlab-master | get_nframe_nvro_npose.m | .m | slam_matlab-master/ground_truth_zh/Localization/get_nframe_nvro_npose.m | 9,903 | utf_8 | 9e44a07be619283be5135223a8f4ad04 | % Get nFrame, vro_size, pose_size
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 8/9/13
function [nFrame, vro_size, pose_size, vro_icp_size, pose_vro_icp_size, vro_icp_ch_size, pose_vro_icp_ch_size] = get_nframe_nvro_npose(file_index, dynamic_index)
%% nFrame list
etas_nFrame_list = [979 1488 988 1979 1889];... |
github | rising-turtle/slam_matlab-master | check_stored_pose_std.m | .m | slam_matlab-master/ground_truth_zh/Localization/check_stored_pose_std.m | 1,321 | utf_8 | b4da71858b5b61210cfbb759eee86f78 | % Check if there is the stored matched points
%
% Author : Soonhac Hong (sxhong1@ualr.edu)
% Date : 3/11/2013
function [exist_flag] = check_stored_pose_std(data_name, dm, first_cframe, second_cframe, isgframe, sequence_data)
exist_flag = 0;
[prefix, confidence_read] = get_sr4k_dataset_prefix(data_name, dm);
if sequen... |
github | rising-turtle/slam_matlab-master | vl_compile.m | .m | slam_matlab-master/SIFT/vlfeat-0.9.16/toolbox/vl_compile.m | 5,060 | utf_8 | 978f5189bb9b2a16db3368891f79aaa6 | function vl_compile(compiler)
% VL_COMPILE Compile VLFeat MEX files
% VL_COMPILE() uses MEX() to compile VLFeat MEX files. This command
% works only under Windows and is used to re-build problematic
% binaries. The preferred method of compiling VLFeat on both UNIX
% and Windows is through the provided Makefile... |
github | rising-turtle/slam_matlab-master | vl_noprefix.m | .m | slam_matlab-master/SIFT/vlfeat-0.9.16/toolbox/vl_noprefix.m | 1,875 | utf_8 | 97d8755f0ba139ac1304bc423d3d86d3 | function vl_noprefix
% VL_NOPREFIX Create a prefix-less version of VLFeat commands
% VL_NOPREFIX() creats prefix-less stubs for VLFeat functions
% (e.g. SIFT for VL_SIFT). This function is seldom used as the stubs
% are included in the VLFeat binary distribution anyways. Moreover,
% on UNIX platforms, the stub... |
github | rising-turtle/slam_matlab-master | vl_override.m | .m | slam_matlab-master/SIFT/vlfeat-0.9.16/toolbox/misc/vl_override.m | 4,654 | utf_8 | e233d2ecaeb68f56034a976060c594c5 | function config = vl_override(config,update,varargin)
% VL_OVERRIDE Override structure subset
% CONFIG = VL_OVERRIDE(CONFIG, UPDATE) copies recursively the fileds
% of the structure UPDATE to the corresponding fields of the
% struture CONFIG.
%
% Usually CONFIG is interpreted as a list of paramters with their
... |
github | rising-turtle/slam_matlab-master | vl_quickvis.m | .m | slam_matlab-master/SIFT/vlfeat-0.9.16/toolbox/quickshift/vl_quickvis.m | 3,696 | utf_8 | 27f199dad4c5b9c192a5dd3abc59f9da | function [Iedge dists map gaps] = vl_quickvis(I, ratio, kernelsize, maxdist, maxcuts)
% VL_QUICKVIS Create an edge image from a Quickshift segmentation.
% IEDGE = VL_QUICKVIS(I, RATIO, KERNELSIZE, MAXDIST, MAXCUTS) creates an edge
% stability image from a Quickshift segmentation. RATIO controls the tradeoff
% bet... |
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