done = isDone(vslam) returns a logical value
indicating whether the visual SLAM object has finished processing its frames. A value of
true indicates the object is in an idle state. A value of
false indicates the object is processing one or more frames.
Perform monocular visual simultaneous localization and mapping (vSLAM) using the data from the TUM RGB-D Benchmark. You can download the data to a temporary directory using a web browser or by running this code:
baseDownloadURL = "https://cvg.cit.tum.de/rgbd/dataset/freiburg3/rgbd_dataset_freiburg3_long_office_household.tgz";
dataFolder = fullfile(tempdir,"tum_rgbd_dataset",filesep);
options = weboptions(Timeout=Inf);
tgzFileName = dataFolder+"fr3_office.tgz";
folderExists = exist(dataFolder,"dir");
% Create a folder in a temporary directory to save the downloaded fileif ~folderExists
mkdir(dataFolder)
disp("Downloading fr3_office.tgz (1.38 GB). This download can take a few minutes.")
websave(tgzFileName,baseDownloadURL,options);
% Extract contents of the downloaded file
disp("Extracting fr3_office.tgz (1.38 GB) ...")
untar(tgzFileName,dataFolder);
end
Create an imageDatastore object to store all the RGB images.
Process each image frame, and visualize the camera poses and 3-D map points. Note that the monovslam object runs several algorithm parts on separate threads, which can introduce a latency in processing of an image frame added by using the addFrame function.
for i = 1:numel(imds.Files)
addFrame(vslam,readimage(imds,i))
if hasNewKeyFrame(vslam)
% Display 3-D map points and camera trajectory
plot(vslam);
end% Get current status of system
status = checkStatus(vslam);
end
Plot intermediate results and wait until all images are processed.
while ~isDone(vslam)
if hasNewKeyFrame(vslam)
plot(vslam);
endend
After all the images are processed, you can collect the final 3-D map points and camera poses for further analysis.
xyzPoints = mapPoints(vslam);
[camPoses,addedFramesIdx] = poses(vslam);
% Reset the system
reset(vslam)
Compare the estimated camera trajectory with the ground truth to evaluate the accuracy.
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