SLAM学习笔记

编译环境ubuntu20.04，vs code

先cmake文件

cmake_minimum_required(VERSION 2.8)
project(image)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_FLAGS "-std=c++17")
find_package(OpenCV REQUIRED)
find_package( Pangolin REQUIRED)
find_package( Sophus REQUIRED)

include_directories("/usr/include/eigen3")
include_directories(${Pangolin_INCLUDE_DIRS})

add_executable(img image.cpp)
add_executable(distort undistort.cpp)
add_executable(stereo stereoVision.cpp)
add_executable(joint jointMap.cpp)



target_link_libraries(img ${OpenCV_LIBS})

target_link_libraries(distort ${OpenCV_LIBS})

target_link_libraries(stereo ${OpenCV_LIBS} ${Pangolin_LIBRARIES})

target_link_libraries(joint ${OpenCV_LIBS} ${Pangolin_LIBRARIES})
target_link_libraries(joint Sophus::Sophus)

然后是双目视觉

#include <opencv2/opencv.hpp>
#include <Eigen/Core>
#include <iostream>
#include <pangolin/pangolin.h>
#include <unistd.h>
using namespace std;
using namespace Eigen;

string left_file = "/home/martin/桌面/code/image/left.png";
string right_file = "/home/martin/桌面/code/image/right.png";
void showPointCloud(const vector<Vector4d, Eigen::aligned_allocator<Vector4d>> &pointcloud);

int main(int argc,char** argv)
{
    double fx = 718.856, fy = 718.856, cx = 607.1928, cy = 185.2157;              //相机内参

    double b = 0.573;                                                             //基线宽度

    cv::Mat left = cv::imread(left_file , 0);                                     //读图
    cv::Mat right = cv::imread(right_file, 0);
    cv::Ptr<cv::StereoSGBM> sgbm = cv::StereoSGBM::create(                        
        0,96,9,8*9*9,32*9*9,1,63,10,100,2);
    /*双目立体匹配算法
    参数含义解释（按顺序）：
    int minDisparity 最小差异值，通常是0，在个别情况需要进行改动，比如整流算法将图像改变
    int numDisparities 最大差异减去最小差异。首先这个数字得大于零，其次还得能被16整除
    int blockSize 匹配的块大小。必须是大于等于1的奇数，通常取值在3～11内
    int P1 控制视差平滑度的第一个参数
    int P2 控制视差平滑度的第二个参数。这两个值越大，差异越平滑。P1是相邻像素之间