done = isDone(vslam) returns a logical value
indicating whether the stereo 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 stereo visual simultaneous localization and mapping (vSLAM) using the data from the UTIAS Long-Term Localization and Mapping Dataset provided by University of Toronto Institute for Aerospace Studies. You can download the data to a directory using a web browser, or by running this code:
Create a folder in a temporary directory to save the downloaded file and extract its contents.
if ~folderExists
mkdir(dataFolder)
disp("Downloading run_000005.zip (818 MB). This download can take a few minutes.")
mget(ftpObj,"/2020-vtr-dataset/UTIAS-In-The-Dark/run_000005.zip",tempFolder);
disp("Extracting run_000005.zip (818 MB) ...")
unzip(zipFileName,dataFolder);
end
Create two imageDatastore objects to store the stereo images.
Specify the intrinsic parameters and the baseline of the stereo camera, and use them to create a stereo visual SLAM object. The focal length, principal point, and image size is in pixels, and the baseline is in meters.
Process each pair of stereo images and visualize the camera poses and 3-D map points.
for i = 1:numel(imdsLeft.Files)
leftImage = readimage(imdsLeft,i);
rightImage = readimage(imdsRight,i);
addFrame(vslam,leftImage,rightImage);
if hasNewKeyFrame(vslam)
% Query 3-D map points and camera poses
xyzPoints = mapPoints(vslam);
[camPoses,viewIds] = poses(vslam);
% Display 3-D map points and camera trajectory
plot(vslam);
end% Get current status of system
status = checkStatus(vslam);
% Stop adding frames when tracking is lostif status == uint8(0)
breakendend
Once all the frames have been processed, reset the system.
You clicked a link that corresponds to this MATLAB command:
Run the command by entering it in the MATLAB Command Window.
Web browsers do not support MATLAB commands.
Seleziona un sito web
Seleziona un sito web per visualizzare contenuto tradotto dove disponibile e vedere eventi e offerte locali. In base alla tua area geografica, ti consigliamo di selezionare: .
Puoi anche selezionare un sito web dal seguente elenco:
Come ottenere le migliori prestazioni del sito
Per ottenere le migliori prestazioni del sito, seleziona il sito cinese (in cinese o in inglese). I siti MathWorks per gli altri paesi non sono ottimizzati per essere visitati dalla tua area geografica.