G2O库的代码编程套路

本文以高博的十四讲的例程来记录使用G2O库时的一个大概的套路

开始构建图优化

// 构建图优化，先设定g2o
    typedef g2o::BlockSolver<g2o::BlockSolverTraits<6, 3>> BlockSolverType;  // pose is 6, landmark is 3
    typedef g2o::LinearSolverDense<BlockSolverType::PoseMatrixType> LinearSolverType; // 线性求解器类型
    // 梯度下降方法，可以从GN, LM, DogLeg 中选
    auto solver = new g2o::OptimizationAlgorithmGaussNewton(
            g2o::make_unique<BlockSolverType>(g2o::make_unique<LinearSolverType>()));
    g2o::SparseOptimizer optimizer;     // 图模型
    optimizer.setAlgorithm(solver);   // 设置求解器
    optimizer.setVerbose(true);       // 打开调试输出

顶点类的创建

模板：

class myVertex: public g2::BaseVertex<Dim, Type>
  {
      public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW

      myVertex(){}

      virtual void read(std::istream& is) {}
      virtual void write(std::ostream& os) const {}

      virtual void setOriginImpl()
      {
          _estimate = Type();
      }
      virtual void oplusImpl(const double* update) override
      {
          _estimate += /*update*/;
      }
  }

例子：

class VertexPose : public g2o::BaseVertex<6, Sophus::SE3d> {//BaseVertex类的模板参数前者为顶点的最小维度，后者为待估计顶点的数据类型
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;

    virtual void setToOriginImpl() override {
        _estimate = Sophus::SE3d();//这个地方是定义顶点初始值
    }

    /// left multiplication on SE3
    virtual void oplusImpl(const double *update) override {
        Eigen::Matrix<double, 6, 1> update_eigen;
        update_eigen << update[0], update[1], update[2], update[3], update[4], update[5];//定义顶点的更新函数
        _estimate = Sophus::SE3d::exp(update_eigen) * _estimate;//顶点的更新
    }
    
    //存盘和读盘，一般就这样声明就行
    virtual bool read(istream &in) override {}
    virtual bool write(ostream &out) const override {}
};

向图中添加顶点

// vertex
    VertexPose *vertex_pose = new VertexPose(); // camera vertex_pose
    vertex_pose->setId(0);//定义节点编号
    vertex_pose->setEstimate(Sophus::SE3d());//定义节点初始值
    optimizer.addVertex(vertex_pose);

边类的创建

模板：

class myEdge: public g2o::BaseBinaryEdge<errorDim, errorType, Vertex1Type, Vertex2Type>
  {
      public:
      EIGEN_MAKE_ALIGNED_OPERATOR_NEW      
      myEdge(){}     
      virtual bool read(istream& in) {}
      virtual bool write(ostream& out) const {}      
      virtual void computeError() override
      {
          // ...
          _error = _measurement - Something;
      }      
      virtual void linearizeOplus() override
      {
          _jacobianOplusXi(pos, pos) = something;
          // ...         
          /*
          _jocobianOplusXj(pos, pos) = something;
          ...
          */
      }      
      private:
      // data
  }

例子：

class EdgeProjection : public g2o::BaseUnaryEdge<2, Eigen::Vector2d, VertexPose> {//BaseUnaryEdge类第一个参数表示测量值的维度，第二个参数表示测量值的数据类型，第三个参数是之前定义的顶点类名称
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW;

    EdgeProjection(const Eigen::Vector3d &pos, const Eigen::Matrix3d &K) : _pos3d(pos), _K(K) {}//初始化构造函数

    virtual void computeError() override {//计算误差
        const VertexPose *v = static_cast<VertexPose *> (_vertices[0]);
        Sophus::SE3d T = v->estimate();//相机位姿
        Eigen::Vector3d pos_pixel = _K * (T * _pos3d);
        pos_pixel /= pos_pixel[2];
        _error = _measurement - pos_pixel.head<2>();
    }

    virtual void linearizeOplus() override {//计算雅克比矩阵
        const VertexPose *v = static_cast<VertexPose *> (_vertices[0]);
        Sophus::SE3d T = v->estimate();
        Eigen::Vector3d pos_cam = T * _pos3d;
        double fx = _K(0, 0);
        double fy = _K(1, 1);
        double cx = _K(0, 2);
        double cy = _K(1, 2);
        double X = pos_cam[0];
        double Y = pos_cam[1];
        double Z = pos_cam[2];
        double Z2 = Z * Z;
        _jacobianOplusXi
                << -fx / Z, 0, fx * X / Z2, fx * X * Y / Z2, -fx - fx * X * X / Z2, fx * Y / Z,
                0, -fy / Z, fy * Y / (Z * Z), fy + fy * Y * Y / Z2, -fy * X * Y / Z2, -fy * X / Z;
    }

    virtual bool read(istream &in) override {}

    virtual bool write(ostream &out) const override {}

private:
    Eigen::Vector3d _pos3d;
    Eigen::Matrix3d _K;
};

向图中添加边

// edges
int index = 1;
    for (size_t i = 0; i < points_2d.size(); ++i) {
        auto p2d = points_2d[i];
        auto p3d = points_3d[i];
        EdgeProjection *edge = new EdgeProjection(p3d, K_eigen);
        edge->setId(index);                                      //设置边的编号
        edge->setVertex(0, vertex_pose);                      //设置连接的顶点
        edge->setMeasurement(p2d);                               //观测数值
        edge->setInformation(Eigen::Matrix2d::Identity());       //信息矩阵
        optimizer.addEdge(edge);
        index++;
    }

进行迭代并输出结果

optimizer.setVerbose(true);
    optimizer.initializeOptimization();
    optimizer.optimize(10);
    chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
    chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>(t2 - t1);
    cout << "optimization costs time: " << time_used.count() << " seconds." << endl;
    cout << "pose estimated by g2o =\n" << vertex_pose->estimate().matrix() << endl;
    pose = vertex_pose->estimate();