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SLAM
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2D-2D位姿估计增加三角测量,确定尺度--参考SLAM十四讲7.6
#include <iostream>#include <opencv2/core/core.hpp>#include <opencv2/features2d/features2d.hpp>#include <opencv2/highgui/highgui.hpp>#include <opencv2/calib3d/calib3d.hp...原创 2018-01-02 12:45:04 · 1714 阅读 · 2 评论 -
Eigen集合模块学习(角轴,位姿,欧拉角,四元数)--参考SLAM十四讲3.6
#include <iostream>using namespace std;#include <eigen3/Eigen/Core>#include <eigen3/Eigen/Dense>#include <ctime>#include <cmath>//欧拉角#include <eigen3/Eigen/Geome...原创 2017-12-09 13:53:21 · 1833 阅读 · 0 评论 -
Sophus库练习(李群李代数)---参考SLAM十四讲4.4
#include <iostream>using namespace std;#include <Eigen/Core>#include<Eigen/Geometry>#include <ctime>#include <cmath>//欧拉角#include "sophus/so3.h"#include "sophus/se.原创 2017-12-10 14:00:14 · 1265 阅读 · 0 评论 -
opencv库练习--参考SLAM十四讲5.3
#include <iostream>using namespace std;#include <chrono>#include <opencv2/core/core.hpp>#include <opencv2/highgui/highgui.hpp>#include <opencv2/opencv.hpp>int main(...原创 2017-12-13 12:50:05 · 299 阅读 · 0 评论 -
特征提取、匹配以及位姿计算(2D-2D)--参考视觉SLAM十四讲7.4
#include <iostream>#include <opencv2/core/core.hpp>#include <opencv2/features2d/features2d.hpp>#include <opencv2/highgui/highgui.hpp>#include <opencv2/calib3d/calib3d.hp...原创 2018-01-02 11:32:40 · 2909 阅读 · 0 评论 -
opencv库图像特征提取与匹配--参考SLAM十四讲7.2
#include <iostream>#include <opencv2/core/core.hpp>#include <opencv2/features2d/features2d.hpp>#include <opencv2/highgui/highgui.hpp>using namespace std;using namespace cv...原创 2017-12-15 20:06:15 · 805 阅读 · 0 评论 -
ceres库最小二乘问题求解---参考SLAM十四讲6.3
#include <iostream>using namespace std;//#include <chrono>#include <opencv2/core/core.hpp>#include <ceres/ceres.h>struct CURVE_FITTING_COST{ CURVE_FITTING_COST(double...原创 2017-12-14 22:18:22 · 1050 阅读 · 0 评论