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1. Content The operation has been completed. Here are some codes to share. 2. T2 1. ORB extraction void computeAngle(const cv::Mat &image, vector<cv::KeyPoint> &keypoints) { int half_patch_size = 8; // int half_boundry = 16; int bad_points =0; //A point in a corner where an angle cannot be calculated for (auto & ...

In Ubuntu 20 04 installing ros and running vins fusion encountered many problems and stepped on many pits. A summary is sent here. The installation of ROS Noetic, Ceres solver, eigen and other libraries is omitted. In git vins-fusion After direct compilation, there will be various errors, which is caused by the difference between the opencv4 ...

Computer vision life learn SLAM learning notes from scratch The following topics are from computer vision life. Learn SLAM series from scratch Point cloud fusion subject Title: point cloud fusion experiment. Given the RGB + depth images taken by 3 frames (discontinuous) RGB-D camera and the transformation matrix between them (taking t ...

Handwritten SLAM notes from zero Rotation mode conversion Title 1: the known rotation matrix is defined as rotating 45 ° along the Z axis. Please initialize the rotation vector, rotation matrix, quaternion and Euler angle according to this definition. Please program: 1. The mutual conversion relations of the above four expressions ...

1. Theoretical knowledge Feature points are composed of key points and descriptors. ORB feature points (Oriented FAST and Rotated BRIEF) are composed of Oriented FAST corner points and BRIEF (binary robot independent elemental features) descriptors. Its calculation speed is 100 times that of sift feature points and 10 times that of surf featur ...

preface Recently, we successfully installed and tested Google's open source laser slam algorithm Cartographer in Nvidia Xavier NX and Nvidia Xavier AGX, and recorded some pits in the process. setup script First, install ROS. Note that Nvidia Xavier NX and Nvidia Xavier AGX are installed Ubuntu 18 04 system, so install the corresponding ...

Vector basic knowledge slightly coordinate transformation Basic concepts of coordinate transformation I recommend taking a look at his linear algebra series 3blue1brown The following formula represents the most basic transformation, Euclidean transformation (only rotation + translation), and R is an orthogonal matrix. Left multiplying ...

1, Principle of topic communication The implementation model of topic communication is complex, as shown in the figure below. The model involves three roles: ROS Master (Manager) Talker (publisher) Listener (subscriber) The ROS Master is responsible for keeping the registered information of Talker and Listener, matching Talker and Listener wi ...

preface In the previous blog, I combed ALOAM: motion distortion compensation of lidar link In ALOAM, only lidar is used as the sensor, so the position and attitude matching between frames can be used to compensate the data of the next frame For example, the pose transformation from k-1 frame to K frame is obtained through inter frame matc ...

Nonlinear optimization involves the derivation of the objective function and iterative optimization. Ceres Solver provides three derivation methods: automatic derivation, numerical derivation and analytical derivation. 1. Automatic derivation Automatic derivation is to define an imitation function and then pass it to AutoDiffCostFunction, s ...