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MRPT指导教程.pdf

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    1《MRPT指导教程》《MRPTTutorial》MRPT_V1.0.2汪若博※译keyearth@gmail.comMobileRobotProgrammingToolkit移动机器人编程工具箱版本历史V1.0.2建立文档...说明...Warning:本文内容仅供参考，为方便mrpt开发者学习而整理撰写，不保证内容准确无误，以mrpt官网内容为准:www.mrpt.orgCopyright:本文主要内容根据mrpt官网内容翻译整理，版权归英文原作者所有。任何组织和个人不得将本文档用于商业用途。Tips:编程语言为C++语言，适合具有一定C++/STL基础的开发者。...知行...
    2MRPT版本1.0.2http://www.mrpt.org/tutorials/programming/
    3目录《MRPT指导教程》.........................................................................................................................1目录...............................................................................................................................................3第一章入门.......................................................................................................................................91.1编译MRPT..........................................................................................................................91.1-1预备条件..................................................................................................................9（1.1）Windows..............................................................................................................9（1.2）GNU/Linux........................................................................................................11（1.3）Ubuntu/Debian...................................................................................................11（1.4）Fedora.................................................................................................................11（1.5）OpenSUSE.........................................................................................................11（1.6）Mac.....................................................................................................................111.1-2CMakebuild选项...................................................................................................12（2.1）使用cmake-gui..................................................................................................12（2.2）在控制台运行cmake........................................................................................12（2.3）感兴趣的build选项.........................................................................................121.1-3生成Makefiles/IDE工程......................................................................................131.1-4编译........................................................................................................................131.1-5其它编译器介绍....................................................................................................14（5.1）Windows下使用MinGW.................................................................................14（5.2）GNU/Linux下使用clang.................................................................................141.2你的第一个C++/MRPT程序..........................................................................................141.2-1源码文件................................................................................................................151.2-2使用CMake...........................................................................................................151.2-3接下来？................................................................................................................161.3简介MRPT库...................................................................................................................161.3-1已有库....................................................................................................................161.3-2创建库....................................................................................................................171.4你需要那个MRPT库？...................................................................................................171.5智能指针............................................................................................................................181.6常见问题和错误................................................................................................................181.6-1一般问题................................................................................................................181.6-2常见错误................................................................................................................181.7在Linux中用Makefile和pkg-config编译定制应用...................................................191.7怎样在ROS节点中使用MRPT？..................................................................................211.7-1小动作....................................................................................................................211.7-2Ready-to-use示例...................................................................................................211.8怎样与PCL交互使用MRPT？......................................................................................21第二章GUI窗口和3DOpenGL图形..........................................................................................222.13D场景简介......................................................................................................................222.1-1示例........................................................................................................................22
    42.1-2类............................................................................................................................222.1-3视窗........................................................................................................................322.2高效的百万级点云渲染...................................................................................................322.3对Stanford3D模型文件格式（PLY）的支持..............................................................332.4消息框（渲染为矢量OpenGL图形）...........................................................................332.5在3D（OpenGL）窗口渲染视频...................................................................................342.62D字体实现.......................................................................................................................35第三章图像，图像处理，摄像头模型........................................................................................373.1特征探测和跟踪................................................................................................................373.1-1简介........................................................................................................................373.1-2探测器&描述子.....................................................................................................373.1-3跟踪........................................................................................................................373.1-4加载/保存为文本文件...........................................................................................373.2高效的非畸变图像序列...................................................................................................383.3使用MRPT校准多种摄像头...........................................................................................393.4立体图像校正....................................................................................................................39第四章地图(定位，SLAM，建图)...............................................................................................404.1Graph-SLAM地图.............................................................................................................404.1-1文本文件.graph格式.............................................................................................404.1-2二进制文件.graphbin格式....................................................................................404.1-3相关C++代码........................................................................................................414.1-4Graph地图示例......................................................................................................414.2占据栅格地图....................................................................................................................444.2-1理论基础................................................................................................................444.2-2一种高效实现........................................................................................................444.2-3已实现传感器模型（似然观测模型）................................................................454.2-4已实现操作............................................................................................................454.3度量地图层次模型............................................................................................................464.3-1关于MRPT中的地图...........................................................................................464.3-2地图们....................................................................................................................47（2.1）多度量地图Multi-metricmap..........................................................................47（2.2）信标地图Beaconmaps.....................................................................................47（2.3）2D气体浓度地图..............................................................................................47（2.4）2D高度（海拔）地图.....................................................................................47（2.5）路标地图Landmarkmaps................................................................................47（2.6）占据栅格地图Occupancygridmaps...............................................................47（2.7）点云地图Pointmaps........................................................................................474.3-3多度量地图的配置................................................................................................47第五章数学和几何.........................................................................................................................495.12D_3D_几何.......................................................................................................................495.1-12D/3DPoint、Pose、齐次坐标.............................................................................495.1-2MRPT中的空间几何类.........................................................................................49（2.1）CPoint2D:(x,y)..................................................................................................49（2.2）CPoint3D:(x,y,z)...............................................................................................50
    5（2.3）CPose2D:(x,y,ϕ)................................................................................................51（2.4）CPose3D:(x,y,z,yaw,pitch,roll).........................................................................51（2.5）CPose3DQuat:3D变换+四元数(x,y,z,qr,qx,qy,qz)........................................525.1-33D旋转矩阵的推导...............................................................................................525.1-4类之间转换............................................................................................................535.1-5常用运算................................................................................................................54（5.1）位姿合并/逆合并..............................................................................................54（5.2）计算距离............................................................................................................54（5.3）计算范数............................................................................................................55（5.4）输出到控制台...................................................................................................555.1-6四元数....................................................................................................................555.1-7实例：移动机器人摄像头坐标变换....................................................................555.2Levenberg-Marquardt算法（数字雅可比矩阵）............................................................575.3矩阵、向量、数组和线性代数：MRPT和Eigen类....................................................575.3-1线性代数类：Eigen...............................................................................................575.3-2MRPT特有类.........................................................................................................575.3-3MRPT矩阵类和Eigen类之间的差异..................................................................585.3-4常见错误（及解决方案）....................................................................................58（4.1）编译时对齐问题.................................................................................................58（4.2）运行时对齐问题.................................................................................................60（4.3）混合数值类型：显式转换.................................................................................60（4.4）resize()与setSize()............................................................................................615.3-5从MRPT0.9.2移植代码的问题..........................................................................61（5.1）MRPT::vector_float和MRPT::vector_double问题........................................61（5.2）从位姿(TPose2D,...)显式构造矩阵....................................................................61（5.3）矩阵元素的迭代器.............................................................................................61（5.4）CVectorFloat和CVectorDouble.........................................................................61（5.5）矩阵方法unit()...................................................................................................615.3-6高级主题................................................................................................................61（6.1）在你的代码中同时包含MRPT和Eigen头文件.............................................615.4RANSACC++类................................................................................................................625.4-1RANSAC算法........................................................................................................625.4-2C++示例..................................................................................................................62（2.1）拟合3D平面.....................................................................................................62（2.2）拟合多个3D平面.............................................................................................63（2.3）拟合多个2D线.................................................................................................64（2.4）基于RANSAC的数据关联.............................................................................655.5SLERP插值........................................................................................................................655.5-1描述........................................................................................................................655.5-2C++实现..................................................................................................................665.5-3参考........................................................................................................................67第六章杂项.....................................................................................................................................686.1Kinect和MRPT.................................................................................................................686.1-1概述........................................................................................................................68
    66.1-2示例代码和文档....................................................................................................686.1-3在Windows中安装...............................................................................................68（3.1）使用OpenKinect的libfreenect（推荐）..........................................................69（3.2）使用CLNUISDK..............................................................................................706.1-4在Unix/Linux中安装...........................................................................................706.1-5数据集....................................................................................................................706.2Kinect校正.........................................................................................................................706.3关于计量单位....................................................................................................................716.4从RGB+D观测生成3D点云（CObservation3DRangeScan对象）..........................726.4-1参数校正................................................................................................................726.4-2投影方程................................................................................................................72（2.1）一般情况..............................................................................................................73（2.2）“校正的”深度图...............................................................................................736.4-3相关MRPTAPIs....................................................................................................73（3.1）RGB+D–>local3Dpointcloud.........................................................................73（3.2）RGB+D–>local3Dpointcloud–>CPointsMap(&derived)..........................73（3.3）RGB+D–>CPointsMap(&derived)..................................................................73（3.4）RGB+D–>mrpt::opengl::CPointCloud..............................................................74（3.5）RGB+D–>mrpt::opengl::CPointCloudColoured...............................................74（3.6）RGB+D–>pcl::PointCloud...........................................................74（3.7）RGB+D–>pcl::PointCloud...................................................746.5元编程：类型名to字符串..............................................................................................756.5-1描述........................................................................................................................756.5-2示例........................................................................................................................756.6mrpt-ros-pkg........................................................................................................................766.7在读取运行时Kinect数据和读取RGBD数据集文件之间的切换.............................776.8在MRPT中单元测试.......................................................................................................77第七章里程和运动模型.................................................................................................................787.1概率运动模型....................................................................................................................787.1-1介绍........................................................................................................................787.1-2高斯概率运动模型................................................................................................787.1-3Thrun,Fox&Burgard’sbook：粒子运动模型.....................................................80参考文献...........................................................................................................................82第八章路径和运动规划.................................................................................................................838.1避障....................................................................................................................................838.1-1概述........................................................................................................................838.1-2参考........................................................................................................................838.2占据栅格地图下的路径规划...........................................................................................838.2-1描述........................................................................................................................838.2-2使用........................................................................................................................838.2-3结果........................................................................................................................84参考文献...........................................................................................................................84第九章概率编程.............................................................................................................................86第十章扫描匹配和ICP.................................................................................................................86
    710.13D-ICP示例.....................................................................................................................8610.2迭代最近点（ICP）和其它匹配算法...........................................................................8710.2-1迭代最近点（ICP）算法....................................................................................87（1.1）使用示例..............................................................................................................88（1.2）“经典”ICP算法................................................................................................88（1.3）Levenberg-Marquardt的ICP算法.....................................................................9010.2-2对应关系组优化..................................................................................................90（2.1）最小二乘刚性变换（2D+方向）......................................................................90（2.2）最小二乘刚性变换（6D）................................................................................90（2.3）鲁棒刚性变换（2D+方向）..............................................................................90参考文献...........................................................................................................................90第十一章串行化.............................................................................................................................9111.1串行化机制......................................................................................................................9111.1-1基础......................................................................................................................91（1.1）类..........................................................................................................................91（1.2）POD（普通旧数据类型）和特例.....................................................................91（1.3）存储基础数据类型的数组.................................................................................92（1.4）基本用法..............................................................................................................9311.1-2运行时类识别......................................................................................................9411.1-3如何实现新的可串行化类..................................................................................95（3.1）一般步骤..............................................................................................................95（3.2）特殊情况..............................................................................................................9711.1-4MRPT中串行化的用途.......................................................................................9711.1-5MRPT内部注册可串行化类...............................................................................9711.1-6串行化和STL容器.............................................................................................9711.2Rawlog格式.....................................................................................................................9811.2-1现有操作工具......................................................................................................9811.2-2FORMAT#1:一种贝叶斯友好的文件格式..........................................................98（2.1）这种格式的”.rawlog”文件的实际内容.............................................................9911.2-3FORMAT#2:一种时间戳排序的观测序列..........................................................99（3.1）这种格式的”.rawlog”文件的实际内容.............................................................9911.2-4压缩Rawlog文件................................................................................................9911.2-5生成Rawlog文件................................................................................................9911.2-6读取Rawlog文件..............................................................................................100（6.1）选项A：文件流................................................................................................100（6.2）选项B：一次读取............................................................................................10111.2-7关于里程数据的注意事项................................................................................101第十二章统计和贝叶斯滤波[StatisticsandBayesfiltering]......................................................10212.1平均似然对数值[AveragingLog-LikelihoodValues]：数值稳定性[NumericalStability].................................................................................................................................................10212.1-1加权似然对数值[Weightedlog-likelihoodvalues]...........................................10212.1-2未加权似然对数值（算术平均值）[Unweightedlog-likelihoodvalues]......10212.2卡尔曼滤波[KalmanFilters].........................................................................................10312.2-1MRPT中的卡尔曼滤波器.................................................................................103
    812.2-2为特定问题写一个KF类.................................................................................103（2.1）派生新类............................................................................................................103（2.2）算法内部流程...................................................................................................10312.2-3一个示例............................................................................................................104（3.1）问题描述............................................................................................................104（3.2）实现....................................................................................................................105（3.2.1）转移模型.........................................................................................................105（3.2.2）转移模型雅可比矩阵....................................................................................105（3.2.3）观测及观测模型............................................................................................10512.3粒子滤波算法................................................................................................................10712.3-1顺序重要性重采样[SequentialImportanceResampling]-SIR（pfStandardProposal）.................................................................................................10712.3-2辅助粒子滤波[AuxiliaryParticleFilter]-APF（pfAuxiliaryPFStandard）...10712.3-3最优采样[OptimalSampling]（pfOptimalProposal）.....................................10712.3-4逼近最优采样[ApproximateOptimalSampling]（pfAuxiliaryPFOptimal）.107参考文献.........................................................................................................................10712.4粒子滤波器....................................................................................................................10812.5空间表征概率密度分布...............................................................................................10812.6重采样机制....................................................................................................................10912.6-1重采样算法........................................................................................................109（1.1）prMultinomial(默认)........................................................................................109（1.2）prResidual..........................................................................................................110（1.3）prStratified.........................................................................................................110（1.4）prSystematic.......................................................................................................11112.6-2MATLAB版本....................................................................................................111参考文献.........................................................................................................................111第十三章有用的MRPT宏(C++预处理器)................................................................................11213.1用于异常处理的宏........................................................................................................11213.1-1异常类别............................................................................................................11213.1-2异常引发宏（似断言宏）................................................................................11313.1-3用于异常传递的特殊宏....................................................................................11413.2关于宏MRPT_START/MRPT_END.........................................................................114
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