课内实践
Sophus
# 声明要求的 cmake 最低版本
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
# 声明一个 cmake 工程
PROJECT(useSophus)
# 设置编译模式
SET(CMAKE_BUILD_TYPE "Release")
# 设置编译选项
SET(CMAKE_CXX_FLAGS "-O3")
# 添加Eigen头文件
INCLUDE_DIRECTORIES("/usr/include/eigen3")
# 寻找并添加Sophus
FIND_PACKAGE(Sophus REQUIRED)
INCLUDE_DIRECTORIES(${Sophus_INCLUDE_DIRS})
# 添加一个可执行程序
# 语法:ADD_EXECUTABLE( 程序名 源代码文件 )
ADD_EXECUTABLE(useSophus useSophus.cpp)
#include <iostream>
#include <cmath>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "sophus/se3.hpp"
using namespace std;
using namespace Eigen;
int main(int argc, char **argv) {
Matrix3d R = AngleAxisd(M_PI / 2, Vector3d(0, 0, 1)).toRotationMatrix();
Quaterniond q(R);
Sophus::SO3d SO3_R(R);
Sophus::SO3d SO3_q(q);
cout << "SO(3) from matrix:\n" << SO3_R.matrix() << endl;
cout << "SO(3) from quaternion:\n" << SO3_q.matrix() << endl;
cout << "they are equal" << endl;
Vector3d so3 = SO3_R.log();
cout << "so3 = " << so3.transpose() << endl;
cout << "so3 hat=\n" << Sophus::SO3d::hat(so3) << endl;
cout << "so3 hat vee= " << Sophus::SO3d::vee(Sophus::SO3d::hat(so3)).transpose() << endl;
Vector3d update_so3(1e-4, 0, 0);
Sophus::SO3d SO3_updated = Sophus::SO3d::exp(update_so3) * SO3_R;
cout << "SO3 updated = \n" << SO3_updated.matrix() << endl;
cout << "*******************************" << endl;
Vector3d t(1, 0, 0);
Sophus::SE3d SE3_Rt(R, t);
Sophus::SE3d SE3_qt(q, t);
cout << "SE3 from R,t= \n" << SE3_Rt.matrix() << endl;
cout << "SE3 from q,t= \n" << SE3_qt.matrix() << endl;
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 = " << Sophus::SE3d::vee(Sophus::SE3d::hat(se3)).transpose() << endl;
Vector6d update_se3;
update_se3.setZero();
update_se3(0, 0) = 1e-4d;
Sophus::SE3d SE3_updated = Sophus::SE3d::exp(update_se3) * SE3_Rt;
cout << "SE3 updated = " << endl << SE3_updated.matrix() << endl;
return 0;
}
SO(3) from matrix:
2.22045e-16 -1 0
1 2.22045e-16 0
0 0 1
SO(3) from quaternion:
2.22045e-16 -1 0
1 2.22045e-16 0
0 0 1
they are equal
so3 = 0 0 1.5708
so3 hat=
0 -1.5708 0
1.5708 0 -0
-0 0 0
so3 hat vee= 0 0 1.5708
SO3 updated =
0 -1 0
1 0 -0.0001
0.0001 2.03288e-20 1
*******************************
SE3 from R,t=
2.22045e-16 -1 0 1
1 2.22045e-16 0 0
0 0 1 0
0 0 0 1
SE3 from q,t=
2.22045e-16 -1 0 1
1 2.22045e-16 0 0
0 0 1 0
0 0 0 1
se3 = 0.785398 -0.785398 0 0 0 1.5708
se3 hat =
0 -1.5708 0 0.785398
1.5708 0 -0 -0.785398
-0 0 0 0
0 0 0 0
se3 hat vee = 0.785398 -0.785398 0 0 0 1.5708
SE3 updated =
2.22045e-16 -1 0 1.0001
1 2.22045e-16 0 0
0 0 1 0
0 0 0 1
trajectoryError
# 声明要求的 cmake 最低版本
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
# 声明一个 cmake 工程
PROJECT(trajectoryError)
# 设置编译模式
SET(CMAKE_BUILD_TYPE "Release")
# 设置编译选项
SET(CMAKE_CXX_FLAGS "-std=c++11")
# 寻找并添加Pangolin
FIND_PACKAGE(Pangolin REQUIRED)
INCLUDE_DIRECTORIES(${Pangolin_INCLUDE_DIRS})
# 添加一个可执行程序
# 语法:ADD_EXECUTABLE( 程序名 源代码文件 )
ADD_EXECUTABLE(trajectoryError trajectoryError.cpp)
# 添加链接库
TARGET_LINK_LIBRARIES(trajectoryError ${Pangolin_LIBRARIES})
#include <iostream>
#include <fstream>
#include <unistd.h>
#include <pangolin/pangolin.h>
#include <sophus/se3.hpp>
using namespace Sophus;
using namespace std;
string groundtruth_file = "../groundtruth.txt";
string estimated_file = "../estimated.txt";
typedef vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>> TrajectoryType;
void DrawTrajectory(const TrajectoryType >, const TrajectoryType &esti);
TrajectoryType ReadTrajectory(const string &path);
int main(int argc, char **argv) {
TrajectoryType groundtruth = ReadTrajectory(groundtruth_file);
TrajectoryType estimated = ReadTrajectory(estimated_file);
assert(!groundtruth.empty() && !estimated.empty());
assert(groundtruth.size() == estimated.size());
double rmse = 0;
for (size_t i = 0; i < estimated.size(); i++) {
Sophus::SE3d p1 = estimated[i], p2 = groundtruth[i];
double error = (p2.inverse() * p1).log().norm();
rmse += error * error;
}
rmse = rmse / double(estimated.size());
rmse = sqrt(rmse);
cout << "RMSE = " << rmse << endl;
DrawTrajectory(groundtruth, estimated);
return 0;
}
TrajectoryType ReadTrajectory(const string &path) {
ifstream fin(path);
TrajectoryType trajectory;
if (!fin) {
cerr << "trajectory " << path << " not found." << endl;
return trajectory;
}
while (!fin.eof()) {
double time, tx, ty, tz, qx, qy, qz, qw;
fin >> time >> tx >> ty >> tz >> qx >> qy >> qz >> qw;
Sophus::SE3d p1(Eigen::Quaterniond(qx, qy, qz, qw), Eigen::Vector3d(tx, ty, tz));
trajectory.push_back(p1);
}
return trajectory;
}
void DrawTrajectory(const TrajectoryType >, const TrajectoryType &esti) {
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 < gt.size() - 1; i++) {
glColor3f(0.0f, 0.0f, 1.0f);
glBegin(GL_LINES);
auto p1 = gt[i], p2 = gt[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 < esti.size() - 1; i++) {
glColor3f(1.0f, 0.0f, 0.0f);
glBegin(GL_LINES);
auto p1 = esti[i], p2 = esti[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);
}
}
![在这里插入图片描述](https://i-blog.csdnimg.cn/blog_migrate/bf0e3b6324e2db989da5a32728a6799f.png)