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  • 使用pangolin库画出轨迹

     https://github.com/stevenlovegrove/Pangolin

    cmake_minimum_required(VERSION 2.8)
    project(chapter3)
    
    
    set(CMAKE_CXX_STANDARD 11)
    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})
    #include <pangolin/pangolin.h>
    #include <Eigen/Core>
    #include <unistd.h>
    #include <fstream>
    // 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 = "/home/qian/slambook2/ch3/examples/trajectory.txt";
    
    void DrawTrajectory(vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>>);
    
    int main(int argc, char **argv) {
    
      vector<Isometry3d, Eigen::aligned_allocator<Isometry3d>> poses;
      ifstream fin(trajectory_file);
      if (!fin) {
        cout << "cannot find trajectory file at " << trajectory_file << endl;
        return 1;
      }
    
      while (!fin.eof()) {  //fin.eof()判断文件是否为空
        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));  //变换矩阵的旋转部分
        Twr.pretranslate(Vector3d(tx, ty, tz));//变换矩阵的平移部分
        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);
        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();
          Vector3d Xw = poses[i] * (0.1 * Vector3d(1, 0, 0));
          Vector3d Yw = poses[i] * (0.1 * Vector3d(0, 1, 0));
          Vector3d Zw = poses[i] * (0.1 * Vector3d(0, 0, 1));
          glBegin(GL_LINES);
          glColor3f(1.0, 0.0, 0.0);
          glVertex3d(Ow[0], Ow[1], Ow[2]);
          glVertex3d(Xw[0], Xw[1], Xw[2]);
          glColor3f(0.0, 1.0, 0.0);
          glVertex3d(Ow[0], Ow[1], Ow[2]);
          glVertex3d(Yw[0], Yw[1], Yw[2]);
          glColor3f(0.0, 0.0, 1.0);
          glVertex3d(Ow[0], Ow[1], Ow[2]);
          glVertex3d(Zw[0], Zw[1], Zw[2]);
          glEnd();
        }
        // 画出连线
        for (size_t i = 0; i < poses.size(); i++) {
          glColor3f(0.0, 0.0, 0.0);
          glBegin(GL_LINES);
          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();
        }
        pangolin::FinishFrame();
        usleep(5000);   // sleep 5 ms
      }
    }

    该程序演示了如何在 Panglin 中画出 3D 的位姿。我们用红、绿、蓝三种颜色画出每个位姿的三 个坐标轴(实际上我们计算了各坐标轴的世界坐标),然后用黑色线将轨迹连起来。

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  • 原文地址:https://www.cnblogs.com/long5683/p/11988220.html
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