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wangh0117 / Picture-repository

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slam-line-descriptor #3

Open wangh0117 opened 4 years ago

wangh0117 commented 4 years ago

image

wangh0117 commented 4 years ago

image

wangh0117 commented 4 years ago

image image

wangh0117 commented 4 years ago

image

wangh0117 commented 4 years ago

image

wangh0117 commented 4 years ago

只用点特征 只用线特征

wangh0117 commented 4 years ago

image

wangh0117 commented 4 years ago

image

wangh0117 commented 4 years ago 
auto line2 = x0*x1.transpose() - x1*x0.transpose();
auto line3 = x0*x2.transpose() - x2*x0.transpose();
Eigen::Vector4d pts1 = line2*plane;
Eigen::Vector4d pts2 = line3*plane;

pts1 = pts1/pts1.w();
cout << "point1 is "<<pts1<<endl;
pts2 = pts2/pts2.w();
cout << "point2 is "<<pts2<<endl;
wangh0117 commented 4 years ago

point1 is -7.21645e-16 0 2 1 point2 is -1.83187e-15 0 4 1