cd build cmake .. make
CMakeLists.txt
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
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
#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 file
string 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
1305031526.671473 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 0.000000000 1.000000000 1305031526.707547 0.002883195 -0.004662100 -0.002254304 0.011409802 0.010697415 0.002189494 0.999875307 1305031526.771481 0.013978966 -0.013082317 -0.010869596 0.043280017 0.032526672 0.003260542 0.998528004 1305031526.807455 -0.001601209 -0.011404546 -0.026841529 0.073491804 0.052071322 0.000915701 0.995935082 1305031526.871446 -0.004428456 -0.001333938 -0.042973492 0.115341254 0.070847765 -0.006601509 0.990774155 1305031526.907484 -0.006487503 -0.003464771 -0.058195263 0.135408968 0.081248961 -0.010381512 0.987398207 1305031526.939618 -0.014331216 -0.013660092 -0.078787915 0.147756621 0.091927201 -0.015138508 0.984625876 1305031526.971510 -0.018625503 -0.015494643 -0.089080200 0.165385425 0.100416750 -0.017430481 0.980948687 1305031527.007595 -0.020048823 -0.005540572 -0.097900160 0.181910872 0.106515355 -0.017926607 0.977364600 1305031527.039512 -0.023435375 -0.009148147 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