part1 complete and part2 on the way

raviBhadeshiya · May 7, 2017 · 9069021 · 9069021
1 parent 7bb88bb
commit 9069021
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Showing 5 changed files with 295 additions and 95 deletions.
diff --git a/CarTracking/code/main.asv b/CarTracking/code/main.asv
diff --git a/...dometry/code/helperEstimateRelativePose.m → ...Odometry/code/helperEstimateRelativePos.m b/...dometry/code/helperEstimateRelativePose.m → ...Odometry/code/helperEstimateRelativePos.m
@@ -1,5 +1,5 @@
 function [orientation, location] = ...
-    helperEstimateRelativePose(matchedPoints1, matchedPoints2, cameraParams)
+    helperEstimateRelativePos(matchedPoints1, matchedPoints2, cameraParams)
 
 %    [fMatrix, inlierIdx] = estimateFundamentalMatrix(...
 %         matchedPoints1,matchedPoints2,'Method','RANSAC',...

diff --git a/VisualOdometry/code/main.m b/VisualOdometry/code/main.m
@@ -8,16 +8,20 @@
 cd code;
 [fx, fy, cx, cy, G_camera_image, LUT]=ReadCameraModel(imgFolder,model);clc;
 K=[fx 0 cx;0 fy cy;0 0 1];
-cameraParams = cameraParameters('IntrinsicMatrix', K);
+cameraParams = cameraParameters('IntrinsicMatrix', K');
 %%
+
 start=1;
+
 for i = start:length(allImages.Files)
     image = demosaic(readimage(allImages,i),'gbrg');
     undistortedImg = UndistortImage(image,LUT);
-    if (i > start+1)
+    if (i < start+1)
+
+    else    
         [point1,point2]=matchPoint(rgb2gray(undistortedImg),rgb2gray(pImage));
         figure(1); showMatchedFeatures(undistortedImg,pImage,point1,point2);
-        [orient, loc] = helperEstimateRelativePose(...
+        [orient, loc] = helperEstimateRelativePos(...
             point1, point2, cameraParams)
     end
 %     figure(1);