视觉|《视觉SLAM十四讲精品总结》10 测试视觉|激光SLAM

#include "myslam/config.h" #include "myslam/visual_odometry.h"int main ( int argc, char** argv ) { //链接参数文件 myslam::Config::setParameterFile ( argv[1] ); //构造VO，类型就是定义指向自身类型的指针 myslam::VisualOdometry::Ptr vo ( new myslam::VisualOdometry ); //读取数据文件地址以及文件 string dataset_dir = myslam::Config::get ( "dataset_dir" ); cout<<"dataset: "< rgb_times, depth_times; while ( !fin.eof() ) { string rgb_time, rgb_file, depth_time, depth_file; fin>>rgb_time>>rgb_file>>depth_time>>depth_file; //atof（）把字符串转换成浮点数 rgb_times.push_back ( atof ( rgb_time.c_str() ) ); depth_times.push_back ( atof ( depth_time.c_str() ) ); rgb_files.push_back ( dataset_dir+"/"+rgb_file ); depth_files.push_back ( dataset_dir+"/"+depth_file ); if ( fin.good() == false ) break; } //创建相机 myslam::Camera::Ptr camera ( new myslam::Camera ); // 可视化，viz模块 //1. 创建可视化窗口 cv::viz::Viz3d vis("Visual Odometry"); //2. 创建坐标系部件，参数是坐标系长度 cv::viz::WCoordinateSystem world_coor(1.0), camera_coor(0.5); // 渲染属性，第一个参数是枚举这里是线宽，后面数值 world_coor.setRenderingProperty(cv::viz::LINE_WIDTH, 2.0); camera_coor.setRenderingProperty(cv::viz::LINE_WIDTH, 1.0); //showWeiget函数将部件添加到窗口内 vis.showWidget("World", world_coor); vis.showWidget("Camera", camera_coor); //3. （可选）设置视角，相机位置坐标，相机焦点坐标，相机y轴朝向 cv::Point3d cam_pos( 0, -1.0, -1.0 ), cam_focal_point(0,0,0), cam_y_dir(0,1,0); // 视角位姿 cv::Affine3d cam_pose = cv::viz::makeCameraPose( cam_pos, cam_focal_point, cam_y_dir ); // 设置观看视角 vis.setViewerPose( cam_pose ); cout<<"read total "<camera_ = camera; pFrame->color_ = color; pFrame->depth_ = depth; pFrame->time_stamp_ = rgb_times[i]; //每帧的运算时间，看实时性 boost::timer timer; //将帧添加进去 vo->addFrame ( pFrame ); cout<<"VO costs time: "<state_ == myslam::VisualOdometry::LOST ) break; //可视化窗口动的是相机坐标系，求相机坐标系下的点在世界坐标系下的坐标 SE3 Tcw = pFrame->T_c_w_.inverse(); //T cv::Affine3d M( cv::Affine3d::Mat3( Tcw.rotation_matrix()(0,0), Tcw.rotation_matrix()(0,1), Tcw.rotation_matrix()(0,2), Tcw.rotation_matrix()(1,0), Tcw.rotation_matrix()(1,1), Tcw.rotation_matrix()(1,2), Tcw.rotation_matrix()(2,0), Tcw.rotation_matrix()(2,1), Tcw.rotation_matrix()(2,2) ), cv::Affine3d::Vec3( Tcw.translation()(0,0), Tcw.translation()(1,0), Tcw.translation()(2,0) ) ); cv::imshow("image", color ); cv::waitKey(1); //viz可视化窗口 vis.setWidgetPose( "Camera", M); vis.spinOnce(1, false); }return 0; }

1、调用之前各大类指针Ptr并生成指针对象为：

typedef shared_ptr Ptr; //之后用VisualOdometry::Ptr调用指针 myslam::VisualOdometry::Ptr vo(new myslam::VisualOdometry) ; //生成类指针Ptr的对象 vo->addFrame(pFrame); //指针调用成员函数 //相机 myslam::Camera::Ptr camera(new myslam::Camera); //帧 myslam::Frame::Ptr pFrame=myslam::Frame::createFrame(); static Frame::Ptr createFrame(); Frame::Ptr Frame::createFrame(){ static long factory_id=0; return Frame::Ptr(new Frame(factory_id++)); //创建只有编号的帧 }

【视觉|《视觉SLAM十四讲精品总结》10 测试】2、不用shared_ptr，直接的new

//声明相机、VO类以及构造函数 class PinholeCamera{ public: PinholeCamera(double width, double height, double fx, double fy, double cx, double cy, double k1 = 0.0, double k2 = 0.0, double p1 = 0.0, double p2 = 0.0, double k3 = 0.0); }; class VisualOdometry{ public: VisualOdometry(PinholeCamera* cam); } ---------------------------------------------------------- //调用。直接new，返回是指针类型cam PinholeCamera *cam = new PinholeCamera(1241.0, 376.0, 718.8560, 718.8560, 607.1928, 185.2157); VisualOdometry vo(cam);