Plot aligned estimated trajectory and error metrics
Since R2024b
collapse all in page
Syntax
plot(metrics,metricType)
ax = plot(___)
plot(___,Name=Value)
Description
plot(metrics,metricType) plots the aligned estimated trajectory and error values, color-coding the trajectory based on the specified metric type metricType, and the error values, linearly mapped to colors in the current colormap.
example
ax = plot(___) additionally returns the axes handle.
plot(___,Name=Value) specifies options using one or more name-value arguments in addition to the previous syntax. For example, ShowGroundTruth=false, suppresses the display of the ground truth trajectory.
Examples
collapse all
Monocular Visual SLAM Using TUM RGB-D Data Set
This example uses:
- Computer Vision ToolboxComputer Vision Toolbox
- Navigation ToolboxNavigation Toolbox
Open Live Script
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 fileif ~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); endend
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 systemreset(vslam)Compare the estimated camera trajectory with the ground truth to evaluate the accuracy.
% Load ground truthgTruthData = load("orbslamGroundTruth.mat");gTruth = gTruthData.gTruth;% Evaluate tracking accuracymtrics = 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 framefigureax = plot(mtrics, "absolute-translation");view(ax, [2.70 -49.20]);
Input Arguments
collapse all
metrics — Trajectory Error metrics
trajectoryErrorMetricsobject
Trajectory Error metrics, specified as a trajectoryErrorMetrics object.
metricType — Metric type
"absolute-rotation" | "absolute-translation | "relative-rotation" | "relative-translation"
Metric type, specified as "absolute-rotation", "absolute-translation, "relative-rotation", or "relative-translation".
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(metric,metricType,ShowGroundTruth=false), suppresses the display of the ground truth trajectory.
VerticalAxis — Point cloud vertical axis and direction
"YDown" (default) | "ZUp" | "ZDown" | "XUp" | "XDown" | "YUp"
Point cloud vertical axis and direction, specified as "ZUp", "ZDown", "XUp", "XDown", "YUp", or "YDown". This argument sets the axis of the point cloud as the vertical axis, with the positive direction based on the value specified.
ShowGroundTruth — Display ground truth trajectory
false (default) | true
Display ground truth trajectory, specified as true or false.
Parent — Axes on which to display visualization
Axes graphics object
Axes on which to display the visualization, specified as an Axes graphics object. To create an Axes object, use the axes function. To display the visualization in a new figure, leave Parent unspecified.
Output Arguments
collapse all
ax — Axes handle
Axes graphics object (default)
Axes handle, returned as an axes graphics object.
Version History
Introduced in R2024b
See Also
Objects
- trajectoryErrorMetrics
MATLAB-Befehl
Sie haben auf einen Link geklickt, der diesem MATLAB-Befehl entspricht:
Führen Sie den Befehl durch Eingabe in das MATLAB-Befehlsfenster aus. Webbrowser unterstützen keine MATLAB-Befehle.
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:
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
- Deutsch
- English
- Français
- United Kingdom (English)
Contact your local office
