视觉SLAM编程基础1.3--visualizeGeometry

主要功能：

各种角度之间的等价转化及可视化

visualizeGeometry.cpp

#include <iostream>
#include <iomanip>
using namespace std;

#include <Eigen/Core>
#include <Eigen/Geometry>
using namespace Eigen;

#include <pangolin/pangolin.h>

struct RotationMatrix
{
    Matrix3d matrix = Matrix3d::Identity();
};

ostream& operator << ( ostream& out, const RotationMatrix& r ) 
{
    out.setf(ios::fixed);
    Matrix3d matrix = r.matrix;
    out<<'=';
    out<<"["<<setprecision(2)<<matrix(0,0)<<","
    <<matrix(0,1)<<","<<matrix(0,2)<<"],"
    << "["<<matrix(1,0)<<","<<matrix(1,1)
    <<","<<matrix(1,2)<<"],"
    << "["<<matrix(2,0)<<","<<matrix(2,1)
    <<","<<matrix(2,2)<<"]";
    return out;
}

istream& operator >> (istream& in, RotationMatrix& r )
{
    return in;
}

struct TranslationVector
{
    Vector3d trans = Vector3d(0,0,0);
};

ostream& operator << (ostream& out, const TranslationVector& t)
{
    out<<"=["<<t.trans(0)<<','<<t.trans(1)<<','<<t.trans(2)<<"]";
    return out;
}

istream& operator >> ( istream& in, TranslationVector& t)
{
    return in;
}

struct QuaternionDraw
{
    Quaterniond q;
};

ostream& operator << (ostream& out, const QuaternionDraw quat )
{
    auto c = quat.q.coeffs();
    out<<"=["<<c[0]<<","<<c[1]<<","<<c[2]<<","<<c[3]<<"]";
    return out;
}

istream& operator >> (istream& in, const QuaternionDraw quat)
{
    return in;
}

int main ( int argc, char** argv )
{
    pangolin::CreateWindowAndBind ( "visualize geometry", 1000, 600 );
    glEnable ( GL_DEPTH_TEST );
    pangolin::OpenGlRenderState s_cam (
        pangolin::ProjectionMatrix ( 1000, 600, 420, 420, 
                500, 300, 0.1, 1000 ),
        pangolin::ModelViewLookAt ( 3,3,3,0,0,0,pangolin::AxisY )
    );
    
    const int UI_WIDTH = 500;
    
    pangolin::View& d_cam = pangolin::CreateDisplay().SetBounds(
            0.0, 
            1.0, pangolin::Attach::Pix(UI_WIDTH), 
            1.0, 
            -1000.0f/600.0f).SetHandler(new pangolin::Handler3D(s_cam));
    
    // ui
    pangolin::Var<RotationMatrix> rotation_matrix("ui.R", RotationMatrix());
    pangolin::Var<TranslationVector> translation_vector("ui.t", TranslationVector());
    pangolin::Var<TranslationVector> euler_angles("ui.rpy", TranslationVector());
    pangolin::Var<QuaternionDraw> quaternion("ui.q", QuaternionDraw());
    pangolin::CreatePanel("ui")
        .SetBounds(0.0, 1.0, 0.0, pangolin::Attach::Pix(UI_WIDTH));
    
    while ( !pangolin::ShouldQuit() )
    {
        glClear( GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT );
        
        d_cam.Activate( s_cam );
        
        pangolin::OpenGlMatrix matrix = s_cam.GetModelViewMatrix();
        Matrix<double,4,4> m = matrix;
        // m = m.inverse();
        RotationMatrix R; 
        for (int i=0; i<3; i++)
            for (int j=0; j<3; j++)
                R.matrix(i,j) = m(j,i);
        rotation_matrix = R;
        
        TranslationVector t;
        t.trans = Vector3d(m(0,3), m(1,3), m(2,3));
        t.trans = -R.matrix*t.trans;
        translation_vector = t;
        
        TranslationVector euler;
        euler.trans = R.matrix.transpose().eulerAngles(2,1,0);
        euler_angles = euler;
        
        QuaternionDraw quat;
        quat.q = Quaterniond(R.matrix);
        quaternion = quat;
        
        glColor3f(1.0,1.0,1.0);
        
        pangolin::glDrawColouredCube();
        // draw the original axis 
        glLineWidth(3);
        glColor3f ( 0.8f,0.f,0.f );
        glBegin ( GL_LINES );
        glVertex3f( 0,0,0 );
        glVertex3f( 10,0,0 );
        glColor3f( 0.f,0.8f,0.f);
        glVertex3f( 0,0,0 );
        glVertex3f( 0,10,0 );
        glColor3f( 0.2f,0.2f,1.f);
        glVertex3f( 0,0,0 );
        glVertex3f( 0,0,10 );
        glEnd();
        
        pangolin::FinishFrame();
    }
}

CMakeLists.txt

cmake_minimum_required( VERSION 2.8 )
project( visualizeGeometry )

set(CMAKE_CXX_FLAGS "-std=c++11")

# 添加Eigen头文件
include_directories( "/usr/include/eigen3" )

# 添加Pangolin依赖
find_package( Pangolin )
include_directories( ${Pangolin_INCLUDE_DIRS} )

add_executable( visualizeGeometry visualizeGeometry.cpp )
target_link_libraries( visualizeGeometry ${Pangolin_LIBRARIES} )

输出结果：