6 posts
g2o (General Graph Optimization) is a graph optimization library that combines nonlinear optimization with graph theory. We can use g2o to solve any least-squares problem that can be represented as graph optimization.
Ceres is a library for solving least-squares problems. We only need to define the problem to be optimized and let it perform the computation. Usage: 1. Define each parameter block. A parameter block is simply a vector, but it can also have a special structure such as a quaternion or Lie algebra……
This article first introduces the imaging principle of pinhole cameras and the conversion between physical coordinates and pixel coordinates. It then introduces a distortion model based on real-world camera issues, presents undistortion formulas, and includes a detailed example program.
Eigen is an open-source C++ linear algebra library that provides fast matrix and linear algebra operations, equation solving, and other features. Many higher-level software libraries also use Eigen for matrix operations. Eigen is a header-only library, so to use it, you only need to include its header files; no library linking is required.
The rotation and translation between two coordinate frames are collectively called the transformation between frames. While a robot moves, we often define an inertial frame (the world frame), which can be treated as fixed. The robot itself is a moving frame.
For a mobile robot, we often need it to know two things—where it is (localization) and what the surrounding environment looks like (mapping).
