addFrame

Add pair of color and depth images to RGB-D visual SLAM object

Since R2024a

Syntax

addFrame(vslam,colorImage,depthImage)

Description

addFrame(vslam,colorImage,depthImage) adds the pair of color and depth images, colorImage and depthImage respectively, to the RGB-D visual SLAM object vslam. The color and depth images must be preregistered with a one-to-one correspondence.

Note

The rgbdvslam 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

RGB-D Visual SLAM Using TUM RGB-D Data Set

Perform RGB-D 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://vision.in.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 two imageDatastore objects. One to store the color images and the other to store the depth images.

colorImageFolder = dataFolder+"rgbd_dataset_freiburg3_long_office_household/rgb/";
depthImageFolder = dataFolder+"rgbd_dataset_freiburg3_long_office_household/depth/";

imdsColor = imageDatastore(colorImageFolder);
imdsDepth = imageDatastore(depthImageFolder);

Select the synchronized pair of color and depth images.

data = load("rgbDepthPairs.mat");
imdsColor=subset(imdsColor, data.indexPairs(:, 1));
imdsDepth=subset(imdsDepth, data.indexPairs(:, 2));

Specify your camera intrinsic parameters, and use them to create an RGB-D visual SLAM object.

intrinsics = cameraIntrinsics([535.4 539.2],[320.1 247.6],[480 640]);
depthScaleFactor = 5000;
vslam = rgbdvslam(intrinsics,depthScaleFactor);

Process each pair of color and depth images, and visualize the camera poses and 3-D map points.

for i = 1:numel(imdsColor.Files)
    colorImage = readimage(imdsColor,i);
    depthImage = readimage(imdsDepth,i);
    addFrame(vslam,colorImage,depthImage);

    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 lost
    if status == uint8(0)
        break
    end
end 

Once all the frames have been processed, reset the system.

while ~isDone(vslam)
    plot(vslam);
end
reset(vslam);

Input Arguments

vslam — RGB-D visual SLAM object

rgbdvslam object

RGB-D visual SLAM object, specified as an rgbdvslam object.

colorImage — Color image

RGB image | grayscale image

Color image, specified as a nonsparse RGB or grayscale image. The color and depth images must be preregistered with a one-to-one correspondence.

Data Types: single | double | int16 | uint8 | uint16 | logical

depthImage — Depth image

grayscale image

Color image, specified as a nonsparse grayscale image. The color and depth images must be preregistered with a one-to-one correspondence.

Data Types: single | double | int16 | uint8 | uint16 | logical

Version History

Introduced in R2024a