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
ldconfig
* 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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lane draw ok and can display four line r g b a. 2022.12.10
共126个文件
cmake:26个
txt:21个
make:16个
需积分: 5 0 下载量 153 浏览量
2022-12-10
15:06:26
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lane draw ok and can display four line r g b a. 2022.12.10
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lane draw ok and can display four line r g b a. 2022.12.10 (126个子文件)
feature_tests.bin 12KB
feature_tests.bin 12KB
feature_tests.bin 12KB
CMakeDetermineCompilerABI_CXX.bin 8KB
CMakeDetermineCompilerABI_CXX.bin 8KB
CMakeDetermineCompilerABI_CXX.bin 8KB
CMakeDetermineCompilerABI_C.bin 8KB
CMakeDetermineCompilerABI_C.bin 8KB
CMakeDetermineCompilerABI_C.bin 8KB
CMakeCCompilerId.c 16KB
CMakeCCompilerId.c 16KB
CMakeCCompilerId.c 16KB
feature_tests.c 688B
feature_tests.c 688B
feature_tests.c 688B
cmake.check_cache 85B
cmake.check_cache 85B
cmake.check_cache 85B
Makefile.cmake 6KB
Makefile.cmake 6KB
CMakeCXXCompiler.cmake 4KB
CMakeCXXCompiler.cmake 4KB
CMakeCXXCompiler.cmake 4KB
CMakeCCompiler.cmake 2KB
CMakeCCompiler.cmake 2KB
CMakeCCompiler.cmake 2KB
Makefile.cmake 2KB
cmake_install.cmake 1KB
cmake_install.cmake 1KB
cmake_install.cmake 1KB
DependInfo.cmake 862B
DependInfo.cmake 846B
DependInfo.cmake 831B
CMakeDirectoryInformation.cmake 713B
CMakeDirectoryInformation.cmake 701B
CMakeDirectoryInformation.cmake 695B
DependInfo.cmake 686B
CMakeSystem.cmake 398B
CMakeSystem.cmake 398B
CMakeSystem.cmake 398B
cmake_clean.cmake 301B
cmake_clean.cmake 295B
cmake_clean.cmake 276B
cmake_clean.cmake 275B
coordinateTransform 4.79MB
CMakeCXXCompilerId.cpp 16KB
CMakeCXXCompilerId.cpp 16KB
CMakeCXXCompilerId.cpp 16KB
plotTrajectory.cpp 6KB
eigenMatrix.cpp 4KB
visualizeGeometry.cpp 3KB
eigenGeometry.cpp 3KB
coordinateTransform.cpp 544B
feature_tests.cxx 10KB
feature_tests.cxx 10KB
feature_tests.cxx 10KB
eigenGeometry 1.12MB
CXX.includecache 36KB
CXX.includecache 36KB
CXX.includecache 26KB
CXX.includecache 26KB
depend.internal 14KB
depend.internal 14KB
depend.internal 9KB
depend.internal 9KB
CMakeOutput.log 42KB
CMakeOutput.log 41KB
CMakeOutput.log 41KB
depend.make 27KB
depend.make 25KB
depend.make 19KB
depend.make 18KB
build.make 6KB
build.make 6KB
build.make 5KB
build.make 5KB
flags.make 394B
flags.make 379B
flags.make 373B
flags.make 201B
progress.make 43B
progress.make 43B
progress.make 43B
progress.make 43B
Makefile 6KB
Makefile 5KB
Makefile 5KB
Makefile2 5KB
Makefile2 3KB
Makefile2 3KB
progress.marks 2B
progress.marks 2B
progress.marks 2B
coordinateTransform.o 6.54MB
eigenGeometry.cpp.o 1.63MB
plotTrajectory.o 1.12MB
visualizeGeometry.cpp.o 1.02MB
a.out 9KB
a.out 9KB
a.out 9KB
共 126 条
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