SLAM-ch3-实践Eigen

1. eigenMatrix.cpp

#include <iostream>
#include <ctime>

#include <eigen3/Eigen/Core>
#include <eigen3/Eigen/Dense>

using namespace std;

#define MATRIX_SIZE 50

int main(int argc, char *argv[])
{
    Eigen::Matrix<float, 2, 3> matrix_23;
    
    Eigen::Vector3d v_3d;
    
    Eigen::Matrix3d matrix_33 = Eigen::Matrix3d::Zero();
    
    Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic> matrix_dynamic;
    
    Eigen::MatrixXd matrix_x;
    
    matrix_23 << 1, 2, 3, 4, 5, 6;
    cout << "matrix_23:"<<endl;
    cout << matrix_23 << endl;
    
    cout << "matrix_23:" << endl;
    for (int i=0;i<2;++i){
        for (int j=0;j<3;++j){
            cout<<matrix_23(i,j)<<endl;
        }
    }
    
    v_3d << 1, 2,3;
    
    Eigen::Matrix<double, 2,1> result=matrix_23.cast<double>() * v_3d;
    cout<<"result:"<<endl;
    cout<<result<<endl;
    
    matrix_33 = Eigen::Matrix3d::Random();
    cout << "matrix_33:" <<endl;
    cout << matrix_33 <<endl;
    
    cout <<"matrix_33.transpose():"<<matrix_33.transpose() <<endl;
    cout <<"matrix_33.sum():"<<matrix_33.sum()<<endl;
    cout <<"matrix_33.trace():"<<matrix_33.trace()<<endl;
    cout <<"matrix_33 * 10"<<matrix_33 * 10<<endl;
    cout <<"matrix_33.inverse():"<<matrix_33.inverse()<<endl;
    cout<<"matrix_33.determinant():"<<matrix_33.determinant()<<endl;
    
    Eigen::SelfAdjointEigenSolver<Eigen::Matrix3d> eigen_slover(matrix_33.transpose()*matrix_33);
    cout<<"eigen_slover.eigenvalues():"<<eigen_slover.eigenvalues()<<endl;
    cout<<"eigen_slover.eigenvectors():"<<eigen_slover.eigenvectors()<<endl;
    
    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();
    Eigen::Matrix<double, MATRIX_SIZE, 1> x=matrix_NN.reverse()*v_Nd;
    cout<<"time use in normal invers is"<<1000*(clock()-time_stt)/(double)CLOCKS_PER_SEC<<"ms"<<endl;
    
    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;
    
    
    return 0;
}
 

2. CMakeLists.txt

cmake_minimum_required(VERSION 3.0)

project(useEigen)

set(CMAKE_BUILD_TYPE "Debug")

set(CMAKE_CXX_FLAGS "-O3")

include_directories("usr/include/eigen3")

add_executable(eigenMatrix eigenMatrix.cpp)

3. 查看执行结果

/home/wzl/work/slambook/ch3/eigen/build> /home/wzl/work/slambook/ch3/eigen/build/eigenMatrix
matrix_23:
1 2 3
4 5 6
matrix_23:
1
2
3
4
5
6
result:
14
32
matrix_33:
 0.680375   0.59688 -0.329554
-0.211234  0.823295  0.536459
 0.566198 -0.604897 -0.444451
matrix_33.transpose(): 0.680375 -0.211234  0.566198
  0.59688  0.823295 -0.604897
-0.329554  0.536459 -0.444451
matrix_33.sum():1.61307
matrix_33.trace():1.05922
matrix_33 * 10 6.80375   5.9688 -3.29554
-2.11234  8.23295  5.36459
 5.66198 -6.04897 -4.44451
matrix_33.inverse():-0.198521   2.22739    2.8357
  1.00605 -0.555135  -1.41603
 -1.62213   3.59308   3.28973
matrix_33.determinant():0.208598
eigen_slover.eigenvalues():0.0242899
 0.992154
  1.80558
eigen_slover.eigenvectors():-0.549013 -0.735943  0.396198
 0.253452 -0.598296 -0.760134
-0.796459  0.316906 -0.514998
time use in normal invers is0.002ms
time use in Qr compsition is0.049ms
*** 已完成 ***