.5 sophus的使用
书中提供的代码
useSophus.cpp
#include <iostream>
#include <cmath>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "sophus/se3.hpp"
#include "sophus/so3.hpp"
using namespace std;
using namespace Eigen;
int main(int argc, char *argv[])
{
//沿z轴旋转90度的旋转矩阵
Matrix3d R = AngleAxisd(M_PI / 2, Vector3d(0, 0, 1)).toRotationMatrix();
//四元数
Quaterniond q(R);
Sophus::SO3d SO3_R(R); //Sophus::SO3d可以直接从旋转矩阵构造
Sophus::SO3d SO3_q(q); //也可通过四元数构造
cout << "SO(3) from matrix: \n" << SO3_R.matrix() << endl;
cout << "SO(3) from quaternion: \n" << SO3_q.matrix() << endl;
cout << "上述二者等价!" << endl;
//使用对数映射获得它的李代数
Vector3d so3 = SO3_R.log();
cout << "so3 = " << so3.transpose() << endl;
//hat为向量到反对称矩阵
cout << "so3 hat = \n" << Sophus::SO3d::hat(so3) << endl;
//vee 为反对称到向量
cout << "so3 hat vee = \n" << Sophus::SO3d::vee(Sophus::SO3d::hat(so3)).transpose() << endl;
//增量扰动模型的更新
Vector3d updated_so3(1e-4, 0, 0); //假设的更新量
Sophus::SO3d SO3_updated = Sophus::SO3d::exp(updated_so3) * SO3_R;
cout << "SO3 updated = \n" << SO3_updated.matrix() << endl;
cout << "---------------------------------------------------------------" << endl;
//对SE(3)操作大同小异
Vector3d t(1, 0, 0); //沿x周平移1
Sophus::SE3d SE3_Rt(R, t); //由R,t构造SE(3)
Sophus::SE3d SE3_qt(q, t);
cout << "SE(3) from matrix: \n" << SE3_Rt.matrix() << endl;
cout << "SE(3) from quaternion: \n" << SE3_qt.matrix() << endl;
//李代数为se(3)为一个六维向量
typedef Eigen::Matrix<double, 6, 1> Vector6d;
Vector6d se3 = SE3_Rt.log();
cout << "se3 = " << se3.transpose() << endl;
cout << "se3 hat = \n" << Sophus::SE3d::hat(se3) << endl;
cout << "se3 hat vee = \n" << Sophus::SE3d::vee(Sophus::SE3d::hat(se3)).transpose() << endl;
Vector6d update_se3; //更新量
update_se3.setZero();
update_se3(0, 0) = 1e-4;
Sophus::SE3d SE3_updated = Sophus::SE3d::exp(update_se3) * SE3_Rt;
cout << "SE3 updated = \n" << SE3_updated.matrix() << endl;
return 0;
}
关键:CMakeLists.txt 的编写
按照书中所写的代码,在我的电脑上会报错
1)需要添加eigen3
有点奇怪,重新试了一下发现不需要了。。。。
2)target_link_libraries(useSophus Sophus::Sophus )必需,不然会报超级多的错误。
解决来源:https://blog.csdn.net/weixin_44387324/article/details/118904871
3)target_link_libraries(useSophus ${Sophus_LIBRARIES})感觉最好加上
cmake_minimum_required(VERSION 2.8)
project(useSophus)
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIR})
include_directories(/usr/local/include/eigen3)
add_executable(useSophus useSophus.cpp)
target_link_libraries(useSophus Sophus::Sophus )
#target_link_libraries(useSophus ${Sophus_LIBRARIES})
7.轨迹的描绘
draw_trajectory.cpp
#include <string>
#include <iostream>
#include <fstream>
#include <unistd.h>
#include <sophus/se3.hpp>
// need pangolin for plotting trajectory
#include <pangolin/pangolin.h>
using namespace std;
// path to trajectory file
string trajectory_file = "../trajectory.txt";
// function for plotting trajectory, don't edit this code
// start point is red and end point is blue
void DrawTrajectory(vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>>);
bool ReadTrajectory(const string &trajectory_file_path, vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>> &poses);
int main(int argc, char **argv) {
/*
vector<Sophus::SE3, Eigen::aligned_allocator< Sophus::SE3>> poses;
//这句实际上表达的是vector< Sophus::SE3> poses的意思
但是在Eigen管理内存和C++11中的方法是不一样的,所以需要单独强调元素的内存分配和管理。
(特别注意Eigen库数据结构内存对齐问题)
*/
vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>> poses; //vector容器
// 读取文件
if (!ReadTrajectory(trajectory_file, poses)) {
cout << "读取失败...\n";
}
else {
cout << "读取成功!\n";
}
// draw trajectory in pangolin
DrawTrajectory(poses);
return 0;
}
bool ReadTrajectory(const string &trajectory_file_path, vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>> &poses){
// 读文件
// 2创建流对象
ifstream reader;
// 3.1打开文件
reader.open(trajectory_file_path, ios::in);
// 3.2判断是否打开成功
if (!reader.is_open()) {
cout << "文件打开失败!!! " << trajectory_file_path << '\n';
return false;
}
// 4读数据
// 将读到的数据储存在SE(3)矩阵中
Eigen::Quaterniond q(1,0,0,0); //四元数
Eigen::Vector3d t(0,0,0); //平移
double time;
while (!reader.eof()) //eof() 判断文件是否为空或者是否读到文件结尾
{ //文件存储的格式为[t,tx,ty,tz,qx,qy,qz]
reader >> time;
// read t
reader >> t[0];
reader >> t[1];
reader >> t[2];
// read q
reader >> q.x();
reader >> q.y();
reader >> q.z();
reader >> q.w();
Sophus::SE3d SE3 (q,t);
poses.push_back(SE3);
}
reader.close();
return true;
}
void DrawTrajectory(vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>> poses) {
if (poses.empty()) {
cerr << "Trajectory is empty!\n";
return;
}
// create pangolin window and plot the trajectory
pangolin::CreateWindowAndBind("Trajectory Viewer", 1024, 768);
glEnable(GL_DEPTH_TEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
pangolin::OpenGlRenderState s_cam(
pangolin::ProjectionMatrix(1024, 768, 500, 500, 512, 389, 0.1, 1000),
pangolin::ModelViewLookAt(0, -0.1, -1.8, 0, 0, 0, 0.0, -1.0, 0.0)
);
pangolin::View &d_cam = pangolin::CreateDisplay()
.SetBounds(0.0, 1.0, pangolin::Attach::Pix(175), 1.0, -1024.0f / 768.0f)
.SetHandler(new pangolin::Handler3D(s_cam));
while (pangolin::ShouldQuit() == false) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
d_cam.Activate(s_cam);
glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
glLineWidth(2);
for (size_t i = 0; i < poses.size() - 1; i++) {
glColor3f(1 - (float) i / poses.size(), 0.0f, (float) i / poses.size());
glBegin(GL_LINES);
auto p1 = poses[i], p2 = poses[i + 1];
glVertex3d(p1.translation()[0], p1.translation()[1], p1.translation()[2]);
glVertex3d(p2.translation()[0], p2.translation()[1], p2.translation()[2]);
glEnd();
}
pangolin::FinishFrame();
usleep(5000); // sleep 5 ms
}
}
数据读取部分代码
bool ReadTrajectory(const string &trajectory_file_path, vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>> &poses){
// 读文件
// 2创建流对象
ifstream reader;
// 3.1打开文件
reader.open(trajectory_file_path, ios::in);
// 3.2判断是否打开成功
if (!reader.is_open()) {
cout << "文件打开失败!!! " << trajectory_file_path << '\n';
return false;
}
// 4读数据
// 将读到的数据储存在SE(3)矩阵中
Eigen::Quaterniond q(1,0,0,0); //四元数
Eigen::Vector3d t(0,0,0); //平移
double time;
while (!reader.eof()) //eof() 判断文件是否为空或者是否读到文件结尾
{ //文件存储的格式为[t,tx,ty,tz,qx,qy,qz]
reader >> time;
// read t
reader >> t[0];
reader >> t[1];
reader >> t[2];
// read q
reader >> q.x();
reader >> q.y();
reader >> q.z();
reader >> q.w();
Sophus::SE3d SE3 (q,t);
poses.push_back(SE3); //在vector尾部加入一个数据
}
reader.close();
return true;
}
CMakeLists.txt
cmake_minimum_required(VERSION 3.1)
project(trajectory)
find_package(Pangolin REQUIRED)
include_directories(${Pangolin_INCLUDE_DIRS})
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIR})
add_executable(draw_trajectory draw_trajectory.cpp)
target_link_libraries(draw_trajectory Sophus::Sophus )
target_link_libraries(draw_trajectory ${Pangolin_LIBRARIES} ${Sophus_LIBRARIES})
8.轨迹的误差
与上节相比需添加轨迹误差的计算,以及将两个轨迹画到同一个图中
误差计算(课本上有):
double ComputeRMSE( const vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>>& poses_estimated,
const vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>>& poses_groundtruth) {
//算法参考课本
double rmse = 0.0;
for (int i = 0; i < poses_estimated.size(); i++) {
Sophus::SE3d p_true = poses_groundtruth[i];
Sophus::SE3d p_esti = poses_estimated[i];
// Compute norm of error
double error = (p_true.inverse() * p_esti).log().norm();
rmse += error * error;
}
rmse = sqrt(rmse / double(poses_estimated.size()));
return rmse;
}
主程序:
#include <string>
#include <iostream>
#include <fstream>
#include <vector>
#include <pangolin/pangolin.h>
#include <unistd.h>
#include <sophus/se3.hpp>
using namespace std;
string estimation_file_path = "../estimated.txt";
string groundtruth_file_path = "../groundtruth.txt";
bool ReadTrajectory(const string &trajectory_file_path, std::vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>> &poses){
// 读文件
// 2创建流对象
ifstream reader;
// 3.1打开文件
reader.open(trajectory_file_path, ios::in);
// 3.2判断是否打开成功
if (!reader.is_open()) {
cout << "文件打开失败!!! " << trajectory_file_path << '\n';
return false;
}
// 4读数据
// 将读到的数据储存在SE(3)矩阵中
Eigen::Quaterniond q(1,0,0,0); //四元数
Eigen::Vector3d t(0,0,0); //平移
double time;
while (!reader.eof()) //eof() 判断文件是否为空或者是否读到文件结尾
{ //文件存储的格式为[t,tx,ty,tz,qx,qy,qz]
reader >> time;
// read t
reader >> t[0];
reader >> t[1];
reader >> t[2];
// read q
reader >> q.x();
reader >> q.y();
reader >> q.z();
reader >> q.w();
Sophus::SE3d SE3 (q,t);
poses.push_back(SE3);
}
reader.close();
return true;
}
double ComputeRMSE( const vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>>& poses_estimated,
const vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>>& poses_groundtruth) {
//算法参考课本
double rmse = 0.0;
for (int i = 0; i < poses_estimated.size(); i++) {
Sophus::SE3d p_true = poses_groundtruth[i];
Sophus::SE3d p_esti = poses_estimated[i];
// Compute norm of error
double error = (p_true.inverse() * p_esti).log().norm();
rmse += error * error;
}
rmse = sqrt(rmse / double(poses_estimated.size()));
return rmse;
}
void DrawTrajectory(vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>> &poses_estimated,
vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>> &poses_groundtruth)
{
if (poses_estimated.empty()) {
cerr << "Trajectory_esti is empty!\n";
return;
}
if (poses_groundtruth.empty()) {
cerr << "Trajectory_true is empty!\n";
return;
}
// create pangolin window and plot the trajectory
pangolin::CreateWindowAndBind("Trajectory Viewer", 1024, 768);
glEnable(GL_DEPTH_TEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
pangolin::OpenGlRenderState s_cam(
pangolin::ProjectionMatrix(1024, 768, 500, 500, 512, 389, 0.1, 1000),
pangolin::ModelViewLookAt(0, -0.1, -1.8, 0, 0, 0, 0.0, -1.0, 0.0)
);
pangolin::View &d_cam = pangolin::CreateDisplay()
.SetBounds(0.0, 1.0, pangolin::Attach::Pix(175), 1.0, -1024.0f / 768.0f)
.SetHandler(new pangolin::Handler3D(s_cam));
while (pangolin::ShouldQuit() == false) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
d_cam.Activate(s_cam);
glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
glLineWidth(2);
for (size_t i = 0; i < poses_estimated.size() - 1; i++) {
glColor3f(1 - (float) i / poses_estimated.size(), 0.0f, (float) i / poses_estimated.size());
glBegin(GL_LINES);
auto p1 = poses_estimated[i], p2 = poses_estimated[i + 1];
glVertex3d(p1.translation()[0], p1.translation()[1], p1.translation()[2]);
glVertex3d(p2.translation()[0], p2.translation()[1], p2.translation()[2]);
glEnd();
}
for (size_t i = 0; i < poses_groundtruth.size() - 1; i++) {
glColor3f(1 - (float) i / poses_groundtruth.size(), 0.0f, (float) i / poses_groundtruth.size());
glBegin(GL_LINES);
auto p1_t = poses_groundtruth[i], p2_t = poses_groundtruth[i + 1];
glVertex3d(p1_t.translation()[0], p1_t.translation()[1], p1_t.translation()[2]);
glVertex3d(p2_t.translation()[0], p2_t.translation()[1], p2_t.translation()[2]);
glEnd();
}
pangolin::FinishFrame();
usleep(5000); // sleep 5 ms
}
}
int main(int argc, char** argv) {
vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>> poses_estimated;
vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>> poses_groundtruth;
// read estimation file
if (!ReadTrajectory(estimation_file_path, poses_estimated)) {
cout << "Reading estimation file fails...\n";
}
else {
cout << "Reading estimation file succeeds!\n";
}
// read groundtruth file
if (!ReadTrajectory(groundtruth_file_path, poses_groundtruth)) {
cout << "Reading groundtruth file fails...\n";
}
else {
cout << "Reading groundtruth file succeeds!\n";
}
cout << ComputeRMSE(poses_estimated, poses_groundtruth) << '\n';
DrawTrajectory(poses_estimated,poses_groundtruth);
return 0;
}
总结与反思:此程序总共分为三部分,一是将文件中的数据读入,二是通过pangolin库将读入的轨迹数据画出来,三是误差算法。欠缺的地方是使用pangoin库画出轨迹,因为看视频的时候没认真看,作业也仅仅是现在才开始练习,接下来学习一下这个可视化绘图库吧。