checkStatus
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
status
— Current status of RGB-D visual SLAM object
TrackingLost
enumeration | TrackingSuccessful
enumeration | FrequentKeyFrames
enumeration
Current status of the RGB-D visual SLAM object, returned as a
TrackingLost
, TrackingSuccessful
, or
FrequentKeyFrames
enumeration. This table describes these
enumerations.
Enumeration Value | Numeric Value | Description |
---|---|---|
TrackingLost | uint8(0) | Tracking is lost. The number of tracked feature points in the frame
currently being processed is less than the lower limit of the
If the
object does not accept enough frames as key frames, to improve tracking, you
can increase the upperLimit value of the
|
TrackingSuccessful | uint8(1) | Tracking is successful. The number of tracked feature points in the
frame currently being processed is between the lower limit and upper limit
values of the |
FrequentKeyFrames | uint8(2) | Tracking adds key frames too frequently. The number of tracked
feature points in the frame currently being processed is greater than the
upper limit of the |
Version History
Introduced in R2024a
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