#include<iostream>
#include<ctime>
using namespace std;
//Eigen部分
#include<Eigen/Core>
//稠密矩阵的代数运算(逆,特征值等)
#include<Eigen/Dense>
#define MATRIX_SIZE 50
int main()
{
//Eigen 以矩阵为基本数据单元,它是个模板类。它的前三个参数为:数据类型,行,列
//声明一个2*3的float矩阵
Eigen::Matrix<float, 2, 3>matrix_23;
//同时,Eigen通过typedef提供了许多内置类型,不过底层仍然是Eigen::Matrix
//例如Vecttor3d实质上是Eigen::Martix<double,3,1>
Eigen::Vector3d v_3d;
//还有Matrix3d实质上是Eigen::Matrix<double,3,3>
Eigen::Matrix3d matrix_33 = Eigen::Matrix3d::Zero();//初始化为零
//如果不确定矩阵大小,可以使用动态矩阵
Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic>matrix_dynamic;
//或者
Eigen::MatrixXd matric_x;
//对于矩阵的操作
//输入数据
matrix_23 << 1, 2, 3, 4, 5, 6;
//输出
cout << "matrix_23 = \n" << matrix_23 << endl;
//访问矩阵中的元素
for (int i = 0; i < 1; i++)
for (int j = 0; j < 2; j++)
cout << matrix_23(i, j) << endl;
v_3d << 3, 2, 1;
//不同类型的矩阵相乘
Eigen::Matrix<double, 2, 1> result = matrix_23.cast<double>() * v_3d;
cout << "result\n" << result << endl;
//矩阵运算
matrix_33 = Eigen::Matrix3d::Random();
cout << "matrix_33\n"<<matrix_33 << endl << endl;
cout << "转置\n" << matrix_33.transpose() << endl;
cout << "各元素和\n" << matrix_33.sum() << endl;
cout << "迹\n" << matrix_33.trace() << endl;
cout << "数乘\n" << matrix_33 * 10<< endl;
cout << "逆\n" << matrix_33.inverse() << endl;
cout << "行列式\n" << matrix_33.determinant() << endl;
//特征值
Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d>eigen_solver(matrix_33.transpose()*matrix_33);
cout << "Eigen value = \n" << eigen_solver.eigenvalues() << endl;
cout << "Eigen vectors = \n" << eigen_solver.eigenvectors() << endl;
//解方程,求解matrix_NN * x = v_Nd这个方程
//N的大小在前边的宏里定义,矩阵由随机数生成
//直接求逆自然是最直接的,但是求逆运算量大
Eigen::Matrix<double, MATRIX_SIZE, MATRIX_SIZE>matrix_NN;
matrix_NN = Eigen::MatrixXd::Random(MATRIX_SIZE, MATRIX_SIZE);
Eigen::Matrix<double, MATRIX_SIZE, 1>v_Nd;
v_Nd = Eigen::MatrixXd::Random(MATRIX_SIZE, 1);
clock_t time_stt = clock();//计时
//直接求逆
Eigen::Matrix<double, MATRIX_SIZE, 1>x= matrix_NN.inverse()*v_Nd;
cout << "time use in normal invers is " << 1000 * (clock() - time_stt) / (double)CLOCKS_PER_SEC << "ms"<< endl;
cout << "x = \n" << x<<endl;
//通常用矩阵分解来求,例如QR分解,速度会快很多
time_stt = clock();
x = matrix_NN.colPivHouseholderQr().solve(v_Nd);
cout << "time use in Qr compsition is " << 1000 * (clock() - time_stt) / (double)CLOCKS_PER_SEC << "ms"<< endl;
cout << "x = \n" << x << endl;
cin.get();
return 0;
}
转载自高翔博士《slam14讲》