Java教程
slam14(1) v1_4_3代码 SLAM中的优化、李群李代数和BA_李代数轨迹误差计算
本文主要是介绍slam14(1) v1_4_3代码 SLAM中的优化、李群李代数和BA_李代数轨迹误差计算，对大家解决编程问题具有一定的参考价值，需要的程序猿们随着小编来一起学习吧！
安装库环境
https://www.cnblogs.com/gooutlook/p/16442302.html
CMakeLists.txt
cmake_minimum_required(VERSION 3.0)
project(useSophus)
# 1-1 为使用 sophus，需要使用find_package命令找到它
find_package(Sophus REQUIRED)
include_directories(${Sophus_INCLUDE_DIRS})
# 1-2 Eigen
include_directories("/usr/local/include/eigen3")
# 3-1 李代书基本转换工程
add_subdirectory(example1_李代数基本转换)
# 3-2 轨迹转换为李代书求解误差
add_subdirectory(example2_轨迹误差计算)
example1_李代数基本转换
CMakeLists.txt
# 2 编译程序
add_executable(useSophus useSophus.cpp)
target_link_libraries(useSophus ${Sophus_LIBRARIES} fmt)
useSophus.cpp
#include <iostream>
#include <cmath>
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "sophus/se3.hpp"
using namespace std;
using namespace Eigen;
/// 本程序演示sophus的基本用法
int main(int argc, char **argv) {
// 沿Z轴转90度的旋转矩阵
Matrix3d R = AngleAxisd(M_PI / 2, Vector3d(0, 0, 1)).toRotationMatrix();
// 或者四元数
Quaterniond q(R);
Sophus::SO3d SO3_R(R); // Sophus::SO3d可以直接从旋转矩阵构造
Sophus::SO3d SO3_q(q); // 也可以通过四元数构造
// 二者是等价的
cout << "SO(3) from matrix:\n" << SO3_R.matrix() << endl;
cout << "SO(3) from quaternion:\n" << SO3_q.matrix() << endl;
cout << "they are equal" << endl;
// 使用对数映射获得它的李代数
Vector3d so3 = SO3_R.log();
cout << "so3 = " << so3.transpose() << endl;
// hat 为向量到反对称矩阵
cout << "so3 hat=\n" << Sophus::SO3d::hat(so3) << endl;
// 相对的，vee为反对称到向量
cout << "so3 hat vee= " << Sophus::SO3d::vee(Sophus::SO3d::hat(so3)).transpose() << endl;
// 增量扰动模型的更新
Vector3d update_so3(1e-4, 0, 0); //假设更新量为这么多
Sophus::SO3d SO3_updated = Sophus::SO3d::exp(update_so3) * SO3_R;
cout << "SO3 updated = \n" << SO3_updated.matrix() << endl;
cout << "*******************************" << endl;
// 对SE(3)操作大同小异
Vector3d t(1, 0, 0); // 沿X轴平移1
Sophus::SE3d SE3_Rt(R, t); // 从R,t构造SE(3)
Sophus::SE3d SE3_qt(q, t); // 从q,t构造SE(3)
cout << "SE3 from R,t= \n" << SE3_Rt.matrix() << endl;
cout << "SE3 from q,t= \n" << SE3_qt.matrix() << endl;
// 李代数se(3) 是一个六维向量，方便起见先typedef一下
typedef Eigen::Matrix<double, 6, 1> Vector6d;
Vector6d se3 = SE3_Rt.log();
cout << "se3 = " << se3.transpose() << endl;
// 观察输出，会发现在Sophus中，se(3)的平移在前，旋转在后.
// 同样的，有hat和vee两个算符
cout << "se3 hat = \n" << Sophus::SE3d::hat(se3) << endl;
cout << "se3 hat vee = " << Sophus::SE3d::vee(Sophus::SE3d::hat(se3)).transpose() << endl;
// 最后，演示一下更新
Vector6d update_se3; //更新量
update_se3.setZero();
update_se3(0, 0) = 1e-4;
Sophus::SE3d SE3_updated = Sophus::SE3d::exp(update_se3) * SE3_Rt;
cout << "SE3 updated = " << endl << SE3_updated.matrix() << endl;
return 0;
}
example2_轨迹误差计算
CMakeLists.txt
option(USE_UBUNTU_20 "Set to ON if you are using Ubuntu 20.04" ON)
find_package(Pangolin REQUIRED)
if(USE_UBUNTU_20)
message("You are using Ubuntu 20.04, fmt::fmt will be linked")
find_package(fmt REQUIRED)
set(FMT_LIBRARIES fmt::fmt)
endif()
include_directories(${Pangolin_INCLUDE_DIRS})
add_executable(trajectoryError trajectoryError.cpp)
target_link_libraries(trajectoryError ${Pangolin_LIBRARIES} ${FMT_LIBRARIES})
trajectoryError.cpp
#include <iostream>
#include <fstream>
#include <unistd.h>
#include <pangolin/pangolin.h>
#include <sophus/se3.hpp>
using namespace Sophus;
using namespace std;
string groundtruth_file = "../../example/groundtruth.txt";
string estimated_file = "../../example/estimated.txt";
typedef vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>> TrajectoryType;
void DrawTrajectory(const TrajectoryType >, const TrajectoryType &esti);
TrajectoryType ReadTrajectory(const string &path);
int main(int argc, char **argv) {
// 1 读取txt轨迹，然后转化成李代数
TrajectoryType groundtruth = ReadTrajectory(groundtruth_file);
TrajectoryType estimated = ReadTrajectory(estimated_file);
assert(!groundtruth.empty() && !estimated.empty());
assert(groundtruth.size() == estimated.size());
// 2 计算绝对轨迹误差 计算每个李代数的均方根误差 旋转和位移
// compute rmse 1/N * 累计求和 开平方([log(评估轨迹/真实轨迹)]^2)
double rmse = 0;
for (size_t i = 0; i < estimated.size(); i++) {
Sophus::SE3d p1 = estimated[i], p2 = groundtruth[i]; //
double error = (p2.inverse() * p1).log().norm(); // N_i = log(estimated[i]/groundtruth[i])
rmse += error * error; // N_error = N_error + N_i
}
rmse = rmse / double(estimated.size()); // N_error_mean= N_error / N
rmse = sqrt(rmse);
cout << "平均误差 = " << rmse << endl;
DrawTrajectory(groundtruth, estimated);
return 0;
}
TrajectoryType ReadTrajectory(const string &path) {
ifstream fin(path);
TrajectoryType trajectory;
if (!fin) {
cerr << "trajectory " << path << " not found." << endl;
return trajectory;
}
while (!fin.eof()) {
double time, tx, ty, tz, qx, qy, qz, qw;
fin >> time >> tx >> ty >> tz >> qx >> qy >> qz >> qw;
Sophus::SE3d p1(Eigen::Quaterniond(qw, qx, qy, qz), Eigen::Vector3d(tx, ty, tz));
trajectory.push_back(p1);
}
return trajectory;
}
void DrawTrajectory(const TrajectoryType >, const TrajectoryType &esti) {
// create pangolin window and plot the trajectory
pangolin::CreateWindowAndBind("Trajectory Viewer", 1024, 768);
glEnable(GL_DEPTH_TEST);
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
pangolin::OpenGlRenderState s_cam(
pangolin::ProjectionMatrix(1024, 768, 500, 500, 512, 389, 0.1, 1000),
pangolin::ModelViewLookAt(0, -0.1, -1.8, 0, 0, 0, 0.0, -1.0, 0.0)
);
pangolin::View &d_cam = pangolin::CreateDisplay()
.SetBounds(0.0, 1.0, pangolin::Attach::Pix(175), 1.0, -1024.0f / 768.0f)
.SetHandler(new pangolin::Handler3D(s_cam));
while (pangolin::ShouldQuit() == false) {
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
d_cam.Activate(s_cam);
glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
glLineWidth(2);
for (size_t i = 0; i < gt.size() - 1; i++) {
glColor3f(0.0f, 0.0f, 1.0f); // blue for ground truth
glBegin(GL_LINES);
auto p1 = gt[i], p2 = gt[i + 1];
glVertex3d(p1.translation()[0], p1.translation()[1], p1.translation()[2]);
glVertex3d(p2.translation()[0], p2.translation()[1], p2.translation()[2]);
glEnd();
}
for (size_t i = 0; i < esti.size() - 1; i++) {
glColor3f(1.0f, 0.0f, 0.0f); // red for estimated
glBegin(GL_LINES);
auto p1 = esti[i], p2 = esti[i + 1];
glVertex3d(p1.translation()[0], p1.translation()[1], p1.translation()[2]);
glVertex3d(p2.translation()[0], p2.translation()[1], p2.translation()[2]);
glEnd();
}
pangolin::FinishFrame();
usleep(5000); // sleep 5 ms
}
}
estimated.txt
1305031526.67147303 0 0 0 0 0 1 0 1305031526.70754695 0.00288319499999999986 -0.00466209999999999975 -0.00225430399999999994 0.0106974147769499078 0.00218949395434721002 0.999875286151759579 0.0114098017620960397 1305031526.77148104 0.0139789660000000007 -0.0130823169999999996 -0.0108695960000000005 0.0325266728104138744 0.00326054208123759126 0.998528028878688856 0.0432800180783373817 1305031526.80745506 -0.00160120899999999992 -0.0114045459999999998 -0.0268415289999999994 0.0520713221589042333 0.00091570100279441259 0.995935085039260204 0.0734918042242723585 1305031526.87144589 -0.00442845599999999989 -0.00133393800000000001 -0.042973492000000002 0.0708477644042826288 -0.00660150894449177718 0.990774146669160416 0.115341253030162946 1305031526.90748405 -0.00648750300000000037 -0.00346477100000000017 -0.0581952629999999971 0.0812489619239377819 -0.0103815121180553093 0.987398218228383806 0.13540896953982845 1305031526.93961811 -0.0143312160000000008 -0.0136600920000000004 -0.078787915 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#include<iostream> #include<fstream> #include<unistd.h> #include<pangolin/pangolin.h> #include<sophus/se3.hpp>
using namespace Sophus; using namespace std;
string groundtruth_file = "../../example/groundtruth.txt"; string estimated_file = "../../example/estimated.txt";
typedef vector<Sophus::SE3d, Eigen::aligned_allocator<Sophus::SE3d>> TrajectoryType;
void DrawTrajectory(const TrajectoryType >, const TrajectoryType &esti);
TrajectoryType ReadTrajectory(const string &path);
int main(int argc, char **argv) { // 1 读取txt轨迹，然后转化成李代数 TrajectoryType groundtruth = ReadTrajectory(groundtruth_file); TrajectoryType estimated = ReadTrajectory(estimated_file); assert(!groundtruth.empty() && !estimated.empty()); assert(groundtruth.size() == estimated.size()); // 2 计算绝对轨迹误差 计算每个李代数的均方根误差 旋转和位移 // compute rmse 1/N * 累计求和 开平方([log(评估轨迹/真实轨迹)]^2) double rmse = 0; for (size_t i = 0; i < estimated.size(); i++) { Sophus::SE3d p1 = estimated[i], p2 = groundtruth[i]; // double error = (p2.inverse() * p1).log().norm(); // N_i = log(estimated[i]/groundtruth[i]) rmse += error * error; // N_error = N_error + N_i } rmse = rmse / double(estimated.size()); // N_error_mean= N_error / N rmse = sqrt(rmse); cout << "平均误差 = " << rmse << endl;
DrawTrajectory(groundtruth, estimated); return 0; }
TrajectoryType ReadTrajectory(const string &path) { ifstream fin(path); TrajectoryType trajectory; if (!fin) { cerr << "trajectory " << path << " not found." << endl; return trajectory; }
while (!fin.eof()) { double time, tx, ty, tz, qx, qy, qz, qw; fin >> time >> tx >> ty >> tz >> qx >> qy >> qz >> qw; Sophus::SE3d p1(Eigen::Quaterniond(qw, qx, qy, qz), Eigen::Vector3d(tx, ty, tz)); trajectory.push_back(p1); } return trajectory; }
void DrawTrajectory(const TrajectoryType >, const TrajectoryType &esti) { // create pangolin window and plot the trajectory pangolin::CreateWindowAndBind("Trajectory Viewer", 1024, 768); glEnable(GL_DEPTH_TEST); glEnable(GL_BLEND); glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
pangolin::OpenGlRenderState s_cam( pangolin::ProjectionMatrix(1024, 768, 500, 500, 512, 389, 0.1, 1000), pangolin::ModelViewLookAt(0, -0.1, -1.8, 0, 0, 0, 0.0, -1.0, 0.0) );
pangolin::View &d_cam = pangolin::CreateDisplay() .SetBounds(0.0, 1.0, pangolin::Attach::Pix(175), 1.0, -1024.0f / 768.0f) .SetHandler(new pangolin::Handler3D(s_cam));
while (pangolin::ShouldQuit() == false) { glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
d_cam.Activate(s_cam); glClearColor(1.0f, 1.0f, 1.0f, 1.0f);
glLineWidth(2); for (size_t i = 0; i < gt.size() - 1; i++) { glColor3f(0.0f, 0.0f, 1.0f); // blue for ground truth glBegin(GL_LINES); auto p1 = gt[i], p2 = gt[i + 1]; glVertex3d(p1.translation()[0], p1.translation()[1], p1.translation()[2]); glVertex3d(p2.translation()[0], p2.translation()[1], p2.translation()[2]); glEnd(); }
for (size_t i = 0; i < esti.size() - 1; i++) { glColor3f(1.0f, 0.0f, 0.0f); // red for estimated glBegin(GL_LINES); auto p1 = esti[i], p2 = esti[i + 1]; glVertex3d(p1.translation()[0], p1.translation()[1], p1.translation()[2]); glVertex3d(p2.translation()[0], p2.translation()[1], p2.translation()[2]); glEnd(); } pangolin::FinishFrame(); usleep(5000); // sleep 5 ms }
}
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