slambook
所属分类：图形图像处理
开发工具：C/C++
文件大小：12467KB
下载次数：24
上传日期：2020-03-23 11:16:23
上 传 者：
weixin_2020
说明： 《视觉SLAM十四讲》高翔，完整版，前10章。对视觉定位，机器学习，深度学习有很大帮助
(Gao Xiang, the complete version of vision slam 14 lectures, is very helpful for vision positioning, machine learning and deep learning)
文件列表:
ch2\.DS_Store (6148, 2017-05-22)
ch2\CMakeLists.txt (560, 2017-04-23)
ch2\helloSLAM (9140, 2017-04-23)
ch2\helloSLAM.cpp (126, 2017-04-23)
ch2\libHelloSLAM.cpp (118, 2017-04-23)
ch2\libHelloSLAM.h (166, 2017-04-23)
ch2\useHello.cpp (149, 2017-04-23)
ch3\.DS_Store (6148, 2017-05-22)
ch3\useEigen\.DS_Store (6148, 2017-05-22)
ch3\useEigen\.idea\workspace.xml (20640, 2017-04-24)
ch3\useEigen\CMakeLists.txt (335, 2017-05-19)
ch3\useEigen\eigenMatrix.cpp (4048, 2017-04-23)
ch3\useGeometry\CMakeLists.txt (178, 2017-04-23)
ch3\useGeometry\eigenGeometry.cpp (2841, 2017-04-23)
ch3\visualizeGeometry\CMakeLists.txt (392, 2017-04-23)
ch3\visualizeGeometry\visualizeGeometry.cpp (3654, 2017-04-23)
ch4\.DS_Store (6148, 2017-05-22)
ch4\useSophus\CMakeLists.txt (299, 2017-04-23)
ch4\useSophus\useSophus.cpp (2642, 2017-04-23)
ch5\.DS_Store (6148, 2017-05-22)
ch5\imageBasics\CMakeLists.txt (356, 2017-04-23)
ch5\imageBasics\imageBasics.cpp (2968, 2017-05-13)
ch5\imageBasics\ubuntu.png (396569, 2017-04-23)
ch5\joinMap\CMakeLists.txt (516, 2017-04-23)
ch5\joinMap\color\1.png (444606, 2017-04-23)
ch5\joinMap\color\2.png (446856, 2017-04-23)
ch5\joinMap\color\3.png (418878, 2017-04-23)
ch5\joinMap\color\4.png (424062, 2017-04-23)
ch5\joinMap\color\5.png (430287, 2017-04-23)
ch5\joinMap\depth\1.pgm (614417, 2017-04-23)
ch5\joinMap\depth\2.pgm (614417, 2017-04-23)
ch5\joinMap\depth\3.pgm (614417, 2017-04-23)
ch5\joinMap\depth\4.pgm (614417, 2017-04-23)
ch5\joinMap\depth\5.pgm (614417, 2017-04-23)
ch5\joinMap\joinMap.cpp (2994, 2017-04-23)
ch5\joinMap\pose.txt (346, 2017-04-23)
ch6\.DS_Store (6148, 2017-05-22)
ch6\ceres_curve_fitting\CMakeLists.txt (589, 2017-04-23)
ch6\ceres_curve_fitting\cmake_modules\CeresConfig.cmake.in (16813, 2017-04-23)
... ...
1. How to compile this program:
* use pangolin: slambook/3rdpart/Pangolin or download it from github: https://github.com/stevenlovegrove/Pangolin
* install dependency for pangolin (mainly the OpenGL):
sudo apt-get install libglew-dev
* compile and install pangolin
cd [path-to-pangolin]
mkdir build
cd build
cmake ..
make
sudo make install
* compile this program:
mkdir build
cd build
cmake ..
make
* run the build/visualizeGeometry
2. How to use this program:
The UI in the left panel displays different representations of T_w_c ( camera to world ). It shows the rotation matrix, tranlsation vector, euler angles (in roll-pitch-yaw order) and the quaternion.
Drag your left mouse button to move the camera, right button to rotate it around the box, center button to rotate the camera itself, and press both left and right button to roll the view.
Note that in this program the original X axis is right (red line), Y is up (green line) and Z in back axis (blue line). You (camera) are looking at (0,0,0) standing on (3,3,3) at first.
3. Problems may happen:
* I found that in virtual machines there may be an error in pangolin, which was solved in its issue: https://github.com/stevenlovegrove/Pangolin/issues/74 . You need to comment the two lines mentioned by paulinus, and the recompile and reinstall Pangolin, if you happen to find this problem.
If you still have problems using this program, please contact: gaoxiang12@mails.tsinghua.edu.cn
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