1 2 3 | cd build cmake ..make |
CMakeLists.txt
1 2 3 4 5 6 7 8 | cmake_minimum_required(VERSION 2.8)project(chapter3)set(CMAKE_CXX_FLAGS "-std=c++11")# 加入各子工程add_subdirectory(examples) |
CMakeLists.txt
1 2 3 4 5 6 | include_directories("/usr/include/eigen3")find_package(Pangolin REQUIRED)include_directories(${Pangolin_INCLUDE_DIRS})add_executable(plotTrajectory plotTrajectory.cpp)target_link_libraries(plotTrajectory ${Pangolin_LIBRARIES}) |
plotTrajectory.cpp
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 | #include <pangolin/pangolin.h>#include <Eigen/Core>#include <unistd.h>// 本例演示了如何画出一个预先存储的轨迹using namespace std;using namespace Eigen;// path to trajectory filestring trajectory_file = "../trajectory.txt";void DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>>);int main(int argc, char **argv) { vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>> poses; // 等价vector<Eigen::Matrix4d> Isometry3d double 4*4矩阵 /* 其实上述的这段代码才是标准的定义容器方法，只是我们一般情况下定义容器的元素都是C++中的类型， 所以可以省略，这是因为在C++11标准中，aligned_allocator管理C++中的各种数据类型的内存方法是一样的，可以不需要着重写出来。 但是在Eigen管理内存和C++11中的方法是不一样的，所以需要单独强调元素的内存分配和管理。 */ ifstream fin(trajectory_file); if (!fin) { cout << "cannot find trajectory file at " << trajectory_file << endl; return 1; } //数据格式 时间辍time, tx, ty, tz, qx, qy, qz, qw; //1305031526.671473 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 1.000000000 while (!fin.eof()) { double time, tx, ty, tz, qx, qy, qz, qw; fin >> time >> tx >> ty >> tz >> qx >> qy >> qz >> qw; Isometry3d Twr(Quaterniond(qw, qx, qy, qz));//加载旋转矩阵 四元数 Twr.pretranslate(Vector3d(tx, ty, tz)); //加载平移矩阵 poses.push_back(Twr); } cout << "read total " << poses.size() << " pose entries" << endl; // draw trajectory in pangolin DrawTrajectory(poses); return 0;}/*******************************************************************************************/void DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>> poses) { // 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, 0.0, 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);//清空 d_cam.Activate(s_cam); glClearColor(1.0f, 1.0f, 1.0f, 1.0f); glLineWidth(2); for (size_t i = 0; i < poses.size(); i++) { // 画每个位姿的三个坐标轴 Vector3d Ow = poses[i].translation(); // 原点 平移 Vector3d Xw = poses[i] * (0.1 * Vector3d(1, 0, 0)); // x轴投影 Vector3d Yw = poses[i] * (0.1 * Vector3d(0, 1, 0)); // y轴投影 Vector3d Zw = poses[i] * (0.1 * Vector3d(0, 0, 1)); // z轴投影 glBegin(GL_LINES);//开始画图 glColor3f(1.0, 0.0, 0.0);//颜色 glVertex3d(Ow[0], Ow[1], Ow[2]); glVertex3d(Xw[0], Xw[1], Xw[2]); glColor3f(0.0, 1.0, 0.0);//颜色 glVertex3d(Ow[0], Ow[1], Ow[2]); glVertex3d(Yw[0], Yw[1], Yw[2]); glColor3f(0.0, 0.0, 1.0);//颜色 glVertex3d(Ow[0], Ow[1], Ow[2]); glVertex3d(Zw[0], Zw[1], Zw[2]); glEnd();//结束画图 } // 画出连线 for (size_t i = 0; i < poses.size(); i++) { glColor3f(0.0, 0.0, 0.0);//颜色 glBegin(GL_LINES);//开始画图 auto p1 = poses[i], p2 = poses[i + 1]; glVertex3d(p1.translation()[0], p1.translation()[1], p1.translation()[2]); glVertex3d(p2.translation()[0], p2.translation()[1], p2.translation()[2]); glEnd();//结束画图 } pangolin::FinishFrame(); usleep(5000); // sleep 5 ms }} |
trajectory.txt
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分类:
1_1_2SLAM十四讲
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