addFrame
Description
addFrame(
adds a
grayscale or RGB image vslam
,I
)I
, to the visual SLAM object
vslam
.
Note
The monovslam
object runs on multiple threads internally, which
can delay the processing of an image frame added by using the addFrame
function. Additionally, the object running on multiple threads means the current frame
the object is processing can be different than the recently added frame.
Examples
Monocular Visual SLAM Using TUM RGB-D Data Set
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 file if ~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.
imageFolder = dataFolder+"rgbd_dataset_freiburg3_long_office_household/rgb/";
imds = imageDatastore(imageFolder);
Specify your camera intrinsic parameters, and use them to create a monocular visual SLAM object.
intrinsics = cameraIntrinsics([535.4 539.2],[320.1 247.6],[480 640]); vslam = monovslam(intrinsics,TrackFeatureRange=[30,120]);
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); end end
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.
% Load ground truth gTruthData = load("orbslamGroundTruth.mat"); gTruth = gTruthData.gTruth; % Evaluate tracking accuracy mtrics = compareTrajectories(camPoses, gTruth(addedFramesIdx), AlignmentType="similarity"); disp(['Absolute RMSE for key frame location (m): ', num2str(mtrics.AbsoluteRMSE(2))]);
Absolute RMSE for key frame location (m): 0.093645
% Plot the absolute translation error at each key frame figure ax = plot(mtrics, "absolute-translation"); view(ax, [2.70 -49.20]);
Input Arguments
vslam
— Visual SLAM object
monovslam
object
Visual SLAM object, specified as a monovslam
object.
I
— Image
grayscale image | RGB image
Image, specified as a grayscale or RGB image.
Data Types: single
| double
| int16
| uint8
| uint16
| logical
gyro
— Gyroscope IMU measurement
N-by-3 matrices
Gyroscope IMU measurement, specified by N-by-3 matrices. N specifies the number of IMU measurements between the previous and current camera frames. Each row of the matrix specifies a gyroscope measurement of the form [gx, gy, gz].
accel
— Acceleration IMU measurement
N-by-3 matrices
Acceleration IMU measurement, specified by N-by-3 matrices. N specifies the number of IMU measurements between the previous and current camera frames. Each row of the matrix specifies an acceleration measurement of the form [ax, ay, az].
Version History
Introduced in R2023bR2024b: Input arguments added for IMU measurements
Specify IMU measurements, gyro and acceleration, for visual-inertial fusion.
Comando MATLAB
Hai fatto clic su un collegamento che corrisponde a questo comando MATLAB:
Esegui il comando inserendolo nella finestra di comando MATLAB. I browser web non supportano i comandi MATLAB.
Select a Web Site
Choose a web site to get translated content where available and see local events and offers. Based on your location, we recommend that you select: .
You can also select a web site from the following list:
How to Get Best Site Performance
Select the China site (in Chinese or English) for best site performance. Other MathWorks country sites are not optimized for visits from your location.
Americas
- América Latina (Español)
- Canada (English)
- United States (English)
Europe
- Belgium (English)
- Denmark (English)
- Deutschland (Deutsch)
- España (Español)
- Finland (English)
- France (Français)
- Ireland (English)
- Italia (Italiano)
- Luxembourg (English)
- Netherlands (English)
- Norway (English)
- Österreich (Deutsch)
- Portugal (English)
- Sweden (English)
- Switzerland
- United Kingdom (English)