Sophus | C++ implementation of Lie Groups using Eigen | Math library
kandi X-RAY | Sophus Summary
kandi X-RAY | Sophus Summary
C++ implementation of Lie Groups using Eigen.
Support
Quality
Security
License
Reuse
Top functions reviewed by kandi - BETA
Currently covering the most popular Java, JavaScript and Python libraries. See a Sample of Sophus
Sophus Key Features
Sophus Examples and Code Snippets
Community Discussions
Trending Discussions on Sophus
QUESTION
So,I am trying to scrape a website.,
...ANSWER
Answered 2021-May-09 at 00:42You can use :contains to target the right label tag then next_sibling to move to the desciption. E.g. within loop over job:
QUESTION
There are two similar poses represented by Euler angle:
...ANSWER
Answered 2019-Sep-28 at 14:19The 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).
QUESTION
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.
ANSWER
Answered 2019-Jul-16 at 08:55Don'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.:
QUESTION
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:
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 14:15Since 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:
QUESTION
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 09:59I 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:
QUESTION
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 08:20If 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.
Community Discussions, Code Snippets contain sources that include Stack Exchange Network
Vulnerabilities
No vulnerabilities reported
Install Sophus
Support
Reuse Trending Solutions
Find, review, and download reusable Libraries, Code Snippets, Cloud APIs from over 650 million Knowledge Items
Find more librariesStay Updated
Subscribe to our newsletter for trending solutions and developer bootcamps
Share this Page