2_2

3D 회전과 이동 실습

How to build

Pre-requisite: Eigen3, Pangolin v0.6

Refer to docker/Dockerfile.

Eigen basics

Introduction to Eigen matrices and vectors.

Rotations

Introduction to SO(3), Angle-axis, and quaternions using Eigen3.

3D pose viewer

A simple 3D coordinate viewer. Currently supports KITTI dataset pose format.

Demo

How to run (Local)

./build/pose_viewer ./cam0_to_world.txt

How to run (Docker)

# Enable docker port for visualization
xhost +local:docker

# Build and run docker image
docker build . -t slam:2_2
docker run -it --env DISPLAY=$DISPLAY -v /tmp/.X11-unix/:/tmp/.X11-unix:ro slam:2_2

# Inside docker
cd fastcampus_slam_codes/2_2
./build/pose_viewer ./cam0_to_world.txt