3.7 可视化演示
最后,我们为读者准备了一个小程序,位于在 slambook/ch3/visualizeGeometry 中。
它以可视化的形式演示了各种表达方式的异同。读者可以用鼠标操作一下,看看数据是如
何变化的。
左端状态栏显示数据
#include <iostream>
#include <iomanip>
using namespace std;
#include <Eigen/Core>
#include <Eigen/Geometry>
using namespace Eigen;
#include <pangolin/pangolin.h>
struct RotationMatrix {
Matrix3d matrix = Matrix3d::Identity();
};
ostream &operator<<(ostream &out, const RotationMatrix &r) {
out.setf(ios::fixed);
Matrix3d matrix = r.matrix;
out << '=';
out << "[" << setprecision(2) << matrix(0, 0) << "," << matrix(0, 1) << "," << matrix(0, 2) << "],"
<< "[" << matrix(1, 0) << "," << matrix(1, 1) << "," << matrix(1, 2) << "],"
<< "[" << matrix(2, 0) << "," << matrix(2, 1