Sophus | C++ implementation of Lie Groups using Eigen | Math library

by strasdat C++ Version: 1.22.10 License: Non-SPDX

X-Ray Key Features Code Snippets Community Discussions(6)Vulnerabilities Install Support

kandi X-RAY | Sophus Summary

Sophus is a C++ library typically used in Utilities, Math applications. Sophus has no bugs, it has no vulnerabilities and it has medium support. However Sophus has a Non-SPDX License. You can download it from GitHub.

C++ implementation of Lie Groups using Eigen.

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Quality

Security

License

Reuse

Support

Sophus has a medium active ecosystem.

It has 1677 star(s) with 539 fork(s). There are 79 watchers for this library.

It had no major release in the last 12 months.

There are 10 open issues and 144 have been closed. On average issues are closed in 186 days. There are 9 open pull requests and 0 closed requests.

It has a neutral sentiment in the developer community.

The latest version of Sophus is 1.22.10

Quality

Sophus has no bugs reported.

Security

Sophus has no vulnerabilities reported, and its dependent libraries have no vulnerabilities reported.

License

Sophus has a Non-SPDX License.

Non-SPDX licenses can be open source with a non SPDX compliant license, or non open source licenses, and you need to review them closely before use.

Reuse

Sophus releases are available to install and integrate.

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Sophus Key Features

No Key Features are available at this moment for Sophus.

Sophus Examples and Code Snippets

No Code Snippets are available at this moment for Sophus.

Community Discussions

Trending Discussions on Sophus

How do I exclude a particular text with tag while scraping a website?

openCV 'cvPoint' and 'CV_FONT_HERSHEY_SIMPLEX' not declared in this scope

Adapting CMakeList.txt to run with CUDA

Create Sophus::SE3 object from Eigen Rotation and translation matrix and go back

How to invert the Rotation of one Axis in a Camera Matrix (e.g. OSG CameraViewMatrix)

QUESTION

How do I exclude a particular text with tag while scraping a website?

Asked 2021-May-09 at 00:42

So,I am trying to scrape a website.,

...

ANSWER

Answered 2021-May-09 at 00:42

You can use :contains to target the right label tag then next_sibling to move to the desciption. E.g. within loop over job:

Source https://stackoverflow.com/questions/67436609

QUESTION

Two similar pose has a big relative euler angle

Asked 2019-Sep-28 at 14:19

There are two similar poses represented by Euler angle:

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ANSWER

Answered 2019-Sep-28 at 14:19

The result is entirely valid. But by the documentation of .eulerAngles() the range of returned angles is [0:pi]x[-pi:pi]x[-pi:pi]. In your case this is unfortunate, since there would be a smaller representation which however requires a negative value for the first angle.

If you really need Euler-Angles, you can try out the unsupported Euler-Angles module of Eigen, which allows much more configuration of the output.

But if you just need a good SO3->R^3 mapping I strongly suggest using the logarithmic map associated with the Lie-group (that is what Sophus::SO3::log should be calculating). Also I'll shamelessly plug a paper on that topic: "Integrating Generic Sensor Fusion Algorithms with Sound State Representations through Encapsulation of Manifolds" (shouldn't be hard to find online).

Source https://stackoverflow.com/questions/57988747

QUESTION

openCV 'cvPoint' and 'CV_FONT_HERSHEY_SIMPLEX' not declared in this scope

Asked 2019-Jul-16 at 08:55

I'm trying to get the LSD-SLAM by Kevin George.
But I got stuck because openCV doesn't want to be cooperative and when using catkin_make it doesn't know the following two things.

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ANSWER

Answered 2019-Jul-16 at 08:55

Don't mix the obsolete C api with the C++ api. Use cv::Point instead of cvPoint, and cv::FONT_HERSHEY_SIMPLEX instead of CV_FONT_HERSHEY_SIMPLEX, e.g.:

Source https://stackoverflow.com/questions/57053358

QUESTION

Adapting CMakeList.txt to run with CUDA

Asked 2018-Apr-27 at 14:15

I'm working with a slam system, i've install dso, which the code can be seen here::

https://github.com/JakobEngel/dso

Everything works fine, I manage to compile and run without errors. But know I want to parallelize the code, using CUDA. I'm having lot's of trouble adapting it's CMakeLists.txt in order to be able to use CUDA. The original CMakeLists from dso is available here:

dso CMakeLists.txt

I'm trying to adapt it basing my changes on this implementation of another author on another SLAM system:

ORB SLAM 2 CMakeLists.txt using CUDA

Right now my CMakeLists, with my changes (not working), is like this:

...

ANSWER

Answered 2018-Apr-27 at 14:15

Since you are including hello_world.cu file in your main code, then you want to have it compiled with nvcc compiler. To achieve this change name of teste.cpp file to teste.cu (otherwise g++ will be used).

Also remove 'hello_world.cu' from CMakeLists.txt (it is included already in teste file) to have something like this:

Source https://stackoverflow.com/questions/50053198

QUESTION

Create Sophus::SE3 object from Eigen Rotation and translation matrix and go back

Asked 2018-Mar-17 at 19:02

I am using Eigen and Sophus for my project. All I want to do is create Sophus SE3 object from rotation and translation defined in Eigen, and get the rotation and translation from SE3, but I get different matrix. Here is my code:

...

ANSWER

Answered 2018-Mar-15 at 09:59

I found the solution wit a help from the sophus github page:

https://github.com/strasdat/Sophus/issues/150

I hope it will help someone facing same problem. Actually I created an invalid rotation matrix. So I created a valid rotation matrix using this code:

Source https://stackoverflow.com/questions/49295175

QUESTION

How to invert the Rotation of one Axis in a Camera Matrix (e.g. OSG CameraViewMatrix)

Asked 2017-May-08 at 16:14

For an augmented reality application I am using some slam algorithm to predict the current orientation of my mobile phone.

The algorithm (LSD-Slam) supplies the current pose in form of a SE3 lie group (using Sophus::Sim3f). If I got this right, this type contains a matrix which can be interpreted as the Viewmatrix of a Camera. After initialisation, e.g. the matrix looks like this:

...

ANSWER

Answered 2017-Feb-01 at 08:20

If the pose you get from the library corresponds to the OpenGL view matrix, you should be able to pass it directly to the osg Camera as you mention.

However, keep in mind that OSG adopts a row-major matrix convention (see for example this post) hence you might need to switch row/columns in your matrix.

If that doesn't work, I suggest you to make sure about the pose conventions used by Sophus (which rotations with respect to which rest position in world coords) and recreate the same transformation is osg from scratch.

Source https://stackoverflow.com/questions/41965563

Community Discussions, Code Snippets contain sources that include Stack Exchange Network

Vulnerabilities

No vulnerabilities reported

Install Sophus

You can download it from GitHub.

Support

For any new features, suggestions and bugs create an issue on GitHub. If you have any questions check and ask questions on community page Stack Overflow .

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