安装库环境
https://www.cnblogs.com/gooutlook/p/16442302.html
CMakeLists.txt
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 | 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 Eigeninclude_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
1 2 3 | # 2 编译程序add_executable(useSophus useSophus.cpp)target_link_libraries(useSophus ${Sophus_LIBRARIES} fmt) |
useSophus.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 | #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
1 2 3 4 5 6 7 8 9 10 | 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
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 99 100 101 102 103 104 | #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
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groundtruth.txt
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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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