hasNewKeyFrame
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
hasAdded
— New key frame status
false
or 0
| true
or 1
New key frame status, returned as a logical 0
(false
) or 1
(true
). A value
of true
indicates that a new key frame has been added within the
RGB-D visual SLAM object vslam
. A value of false
indicates that no new key frame has been added. The object considers an image frame to
be a key frame if the number of tracked feature points in the current frame satisfies
one these conditions:
The number of tracked feature points is within the limits specified by the
TrackFeatureRange
property of thergbdvslam
objectvslam
.The number of tracked feature points is greater than the upper limit specified by the
TrackFeatureRange
property of thergbdvslam
objectvslam
, and the number of skipped frames since adding the last key frame equals the value of theSkipMaxFrames
property ofvslam
.
The hasNewKeyFrame
object function returns
true
only when the rgbdvslam
object has added one or more new key frames since the last
hasNewKeyFrame
call. For example, if the rgbdvslam
object adds only one key frame, then two consecutive calls to
hasNewKeyFrame
return true
and
false
, respectively.
Version History
Introduced in R2024a
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