plot
Plot 3-D map points and estimated camera trajectory in RGB-D visual SLAM
Since R2024a
Description
plot(
plots the 3-D map points and
estimated camera trajectory from the RGB-D visual SLAM object
vslam
)vslam
.
plot(
specifies options using one or more name-value arguments. For example,
vslam
,Name=Value
)MarkerSize=10
sets the diameter of the marker size to 10 points.
returns the axes
handle for the 3-D mapped points of the plot, using any combination of input arguments from
previous syntaxes.ax
= plot(___)
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.
Name-Value Arguments
Specify optional pairs of arguments as
Name1=Value1,...,NameN=ValueN
, where Name
is
the argument name and Value
is the corresponding value.
Name-value arguments must appear after other arguments, but the order of the
pairs does not matter.
Example: plot(vslam,MarkerSize=10)
, sets the diameter of the marker to
10 points.
MarkerSize
— Diameter of markers for 3-D map points
6
(default) | positive integer
Diameter of the markers for the 3-D map points, specified as a positive integer in points.
MarkerColor
— Color of markers for 3-D map points
[0 1 0]
(default) | RGB triplet | short or long color name
Color of the markers for the 3-D map points, specified as an RGB triplet or a
short or long color name. Each value within an RGB triplet must be in the range
[0
1
].
ColorSource
— Colormap source for the markers
"Y"
(default) | "X"
| "Z"
| "MarkerColor"
Colormap source for markers, specified as "X"
,
"Y"
, "Z"
, or
"MarkerColor"
.
CameraSize
— Width of camera base
0.1
(default) | positive scalar
Width of the camera base, specified as a positive scalar in the data units of the axes.
CameraColor
— Color of camera
[1 0 0]
(default) | RGB triplet | short or long color name
Color of the camera, specified as an RGB triplet or a short or long color name.
Each value within an RGB triplet must be in the range [0
1
].
Parent
— Axes for visualization
Axes
object | UIAxes
object
Axes for visualization, specified as an Axes
graphics object or a
UIAxes
object. Use this name-value argument to visualize the plot
in a UI for which you have specified Figure
and Axes
properties.
Output Arguments
ax
— Axes handle
Axes
graphics object
Axes handle, returned as an axes
graphics object.
Version History
Introduced in R2024a
See Also
Objects
Functions
addFrame
|hasNewKeyFrame
|checkStatus
|isDone
|mapPoints
|poses
|reset
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