Commit 07874238 authored by Rohan Kumar's avatar Rohan Kumar
Browse files

Revert "resolved errors scene on lab machine" 

This reverts commit 7babb541
parent 7babb541

src/main/java/vslam/vslam_implementation_rgbd.m

+1 −45
Original line number Diff line number Diff line
@@ -131,23 +131,9 @@ function vslam_implementation_rgbd(dataset_name) 
    end



    % Process the image sequence

<<<<<<< HEAD

<<<<<<< HEAD

    [worldPointSetOutput, optimizedPoses, pointCloudsAll] = ProcessImageSequence(imdsColor, imdsDepth);



    % Save the outputs to .mat files

    save('worldPointSetOutput.mat', 'worldPointSetOutput');

    save('optimizedPoses.mat', 'optimizedPoses');

    save('pointCloudsAll.mat', 'pointCloudsAll');

=======

    [worldPointSetOutput, optimizedPoses, pointCloudsAll, intrinsics] = ProcessImageSequence(imdsColor, imdsDepth);



    % Save the outputs to .mat files

=======

    [worldPointSetOutput, optimizedPoses, pointCloudsAll, intrinsics] = ProcessImageSequence(imdsColor, imdsDepth);



    % Save the outputs to .mat files

>>>>>>> 197296f30ca7b0c49c8308bf3194348f11ab6a30

    % save('worldPointSetOutput.mat', 'worldPointSetOutput');

    % save('optimizedPoses.mat', 'optimizedPoses');

    % save('pointCloudsAll.mat', 'pointCloudsAll');
@@ -157,10 +143,6 @@ function vslam_implementation_rgbd(dataset_name) 
    savePosesToCSV(optimizedPoses, 'CameraPoses');

    savePointCloudToCSV(pointCloudsAll);

    saveIntrinsicsToCSV(intrinsics);

<<<<<<< HEAD

>>>>>>> divider

=======

>>>>>>> 197296f30ca7b0c49c8308bf3194348f11ab6a30



    % Iterate over KeyFrames and execute extractPointsByViewId

    keyFramesDir = './KeyFrames';
@@ -175,28 +157,12 @@ function vslam_implementation_rgbd(dataset_name) 
end





<<<<<<< HEAD

<<<<<<< HEAD

function [worldPointSetOutput, optimizedPoses, pointCloudsAll] = ProcessImageSequence(imdsColor, imdsDepth)

=======

function [worldPointSetOutput, optimizedPoses, pointCloudsAll, intrinsics] = ProcessImageSequence(imdsColor, imdsDepth)

>>>>>>> divider

=======

function [worldPointSetOutput, optimizedPoses, pointCloudsAll, intrinsics] = ProcessImageSequence(imdsColor, imdsDepth)

>>>>>>> 197296f30ca7b0c49c8308bf3194348f11ab6a30

    % Inspect the first RGB-D image

    currFrameIdx  = 1;

    currIcolor    = readimage(imdsColor, currFrameIdx);

    currIdepth    = readimage(imdsDepth, currFrameIdx);

<<<<<<< HEAD

<<<<<<< HEAD

    imshowpair(currIcolor, currIdepth, "montage");

=======

    % imshowpair(currIcolor, currIdepth, "montage");

>>>>>>> divider

=======

    % imshowpair(currIcolor, currIdepth, "montage");

>>>>>>> 197296f30ca7b0c49c8308bf3194348f11ab6a30

    

    % Map Initialization: The pipeline starts by initializing the map that holds 3-D world points. 

    % This step is crucial and has a significant impact on the accuracy of the final SLAM result.
@@ -655,11 +621,6 @@ function saveKeyFramePoints(dirPath, keyFrameId, featurePoints, mapPointsIdx) 
    % Write the combined data to a CSV file

    writematrix(dataMatrix, csvFilename);

end

<<<<<<< HEAD

<<<<<<< HEAD

=======

=======

>>>>>>> 197296f30ca7b0c49c8308bf3194348f11ab6a30





function savePointCloudToCSV(pointCloudsAll)
@@ -693,9 +654,4 @@ function saveIntrinsicsToCSV(intrinsics) 
        intrinsics.K];



    writematrix(mat, 'CameraIntrinsics.csv')

<<<<<<< HEAD

end

>>>>>>> divider

=======

end
 
 No newline at end of file
 
>>>>>>> 197296f30ca7b0c49c8308bf3194348f11ab6a30