视觉SLAM十四讲从理论到实践第二版源码调试笔记（理论基础1-6章）
2019-2020-2学期机器人工程专业需要开设SLAM技术课程，使用教材为视觉SLAM十四讲从理论到实践第二版。
为方便学生学习课程知识，将Arduino、ROS1、ROS2和SLAM集成到课程定制版镜像中。链接如下：
第一章 预备知识
关键词：数学、C++、Linux
学有余力的同学，请完成课后习题。
第二章 初识SLAM
关键词：SLAM、g++、IDE
g++ helloSLAM.cpp -o hello_slam
熟练使用：mkdir build , cmake .. , make等。
IDE环境使用KDevelop或者VSCode等都行。
第三章 三维空间刚体运动
关键词：矩阵、四元数、欧拉角、Eigen
全部内容：
-
matrix 2x3 from 1 to 6:
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1 2 3
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4 5 6
-
print matrix 2x3:
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1 2 3
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4 5 6
-
[1,2,3;4,5,6]*[3,2,1]=10 28
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[1,2,3;4,5,6]*[4,5,6]: 32 77
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random matrix:
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0.680375 0.59688 -0.329554
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-0.211234 0.823295 0.536459
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0.566198 -0.604897 -0.444451
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transpose:
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0.680375 -0.211234 0.566198
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0.59688 0.823295 -0.604897
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-0.329554 0.536459 -0.444451
-
sum: 1.61307
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trace: 1.05922
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times 10:
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6.80375 5.9688 -3.29554
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-2.11234 8.23295 5.36459
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5.66198 -6.04897 -4.44451
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inverse:
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-0.198521 2.22739 2.8357
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1.00605 -0.555135 -1.41603
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-1.62213 3.59308 3.28973
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det: 0.208598
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Eigen values =
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0.0242899
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0.992154
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1.80558
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Eigen vectors =
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-0.549013 -0.735943 0.396198
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0.253452 -0.598296 -0.760134
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-0.796459 0.316906 -0.514998
-
time of normal inverse is 0.312ms
-
x = -55.7896 -298.793 130.113 -388.455 -159.312 160.654 -40.0416 -193.561 155.844 181.144 185.125 -62.7786 19.8333 -30.8772 -200.746 55.8385 -206.604 26.3559 -14.6789 122.719 -221.449 26.233 -318.95 -78.6931 50.1446 87.1986 -194.922 132.319 -171.78 -4.19736 11.876 -171.779 48.3047 84.1812 -104.958 -47.2103 -57.4502 -48.9477 -19.4237 28.9419 111.421 92.1237 -288.248 -23.3478 -275.22 -292.062 -92.698 5.96847 -93.6244 109.734
-
time of Qr decomposition is 0.182ms
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x = -55.7896 -298.793 130.113 -388.455 -159.312 160.654 -40.0416 -193.561 155.844 181.144 185.125 -62.7786 19.8333 -30.8772 -200.746 55.8385 -206.604 26.3559 -14.6789 122.719 -221.449 26.233 -318.95 -78.6931 50.1446 87.1986 -194.922 132.319 -171.78 -4.19736 11.876 -171.779 48.3047 84.1812 -104.958 -47.2103 -57.4502 -48.9477 -19.4237 28.9419 111.421 92.1237 -288.248 -23.3478 -275.22 -292.062 -92.698 5.96847 -93.6244 109.734
-
time of ldlt decomposition is 0.054ms
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x = -55.7896 -298.793 130.113 -388.455 -159.312 160.654 -40.0416 -193.561 155.844 181.144 185.125 -62.7786 19.8333 -30.8772 -200.746 55.8385 -206.604 26.3559 -14.6789 122.719 -221.449 26.233 -318.95 -78.6931 50.1446 87.1986 -194.922 132.319 -171.78 -4.19736 11.876 -171.779 48.3047 84.1812 -104.958 -47.2103 -57.4502 -48.9477 -19.4237 28.9419 111.421 92.1237 -288.248 -23.3478 -275.22 -292.062 -92.698 5.96847 -93.6244 109.734
./eigenGeometry
./coordinateTransform
./plotTrajectory
图示如下：
./visualizeGeometry
图示如下：
第四章 李群与李代数
关键词：SO(3)、SE(3)、Sophus
./useSophus
编译需要注意“sophus/se3.hpp”，路径要配置正确，如果不想配置，就sudo make install也可以。
全部内容如下：
-
SO(3) from matrix:
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2.22045e-16 -1 0
-
1 2.22045e-16 0
-
0 0 1
-
SO(3) from quaternion:
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2.22045e-16 -1 0
-
1 2.22045e-16 0
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0 0 1
-
they are equal
-
so3 = 0 0 1.5708
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so3 hat=
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0 -1.5708 0
-
1.5708 0 -0
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-0 0 0
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so3 hat vee= 0 0 1.5708
-
SO3 updated =
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0 -1 0
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1 0 -0.0001
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0.0001 2.03288e-20 1
-
*******************************
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SE3 from R,t=
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2.22045e-16 -1 0 1
-
1 2.22045e-16 0 0
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0 0 1 0
-
0 0 0 1
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SE3 from q,t=
-
2.22045e-16 -1 0 1
-
1 2.22045e-16 0 0
-
0 0 1 0
-
0 0 0 1
-
se3 = 0.785398 -0.785398 0 0 0 1.5708
-
se3 hat =
-
0 -1.5708 0 0.785398
-
1.5708 0 -0 -0.785398
-
-0 0 0 0
-
0 0 0 0
-
se3 hat vee = 0.785398 -0.785398 0 0 0 1.5708
-
SE3 updated =
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2.22045e-16 -1 0 1.0001
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1 2.22045e-16 0 0
-
0 0 1 0
-
0 0 0 1
./trajectoryError
第五章 相机与图像
关键词：OpenCV
./imageBasics ubuntu.png
./undistortImage
./stereoVision
./joinMap
第六章 非线性优化
关键词：最小二乘法、高斯牛顿法、列文博格-马夸尔特法、Ceres、g2o
./gaussNewton
./ceresCurveFitting
如果出现：./g2oCurveFitting: error while loading shared libraries: libg2o_core.so: cannot open shared object file: No such file or directory
使用如下方式：
$ sudo gedit /etc/ld.so.conf
添加：/usr/local/lib
运行：sudo ldconfig
再次运行：
./g2oCurveFitting
对比求解时间：
- gaussNewton：solve time cost = 0.000938872 seconds.
- ceresCurveFitting：solve time cost = 0.00942216 seconds.
- g2oCurveFitting ：solve time cost = 0.000908874 seconds.
依据电脑配置会有差异。
作业为完成1-6章课后习题。
文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。
原文链接：zhangrelay.blog.csdn.net/article/details/103071586
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