mapPoints
Description
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.
Output Arguments
xyzPoints
— World point coordinates of 3-D map
M-by-3 matrix
World point coordinates of 3-D map, returned as an M-by-3 matrix. M is the number of points, and each point is of the form [X Y Z].
Version History
Introduced in R2024a
See Also
Objects
Functions
addFrame
|hasNewKeyFrame
|checkStatus
|isDone
|poses
|plot
|reset
Topics
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