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View Code? Open in Web Editor NEWB-spline implementations usable as design variables and expression sources for aslam_optimizer
License: Other
B-spline implementations usable as design variables and expression sources for aslam_optimizer
License: Other
Hi Hannes,
Thank you for the amazing work.
The templates are very involved to me. I look to learn about them.
Can you please provide a book or a link to start the learning?
Regards,
Got many errors for same reason "marked ‘override’, but does not override", here is one example:
/home/catkin_ws/src/aslam_splines/aslam_splines/include/aslam/splines/BSplineExpressions.hpp:67:37: error: ‘virtual Eigen::Vector3d aslam
::splines::BSplinePositionExpressionNode::evaluateImplementation() const’ marked ‘override’, but does not override
virtual Eigen::Vector3d evaluateImplementation() const override;
Another error which happened lot of times is "error: invalid new-expression of abstract class type", one example:
/home/catkin_ws/src/aslam_splines/aslam_splines/src/BSplineRSPoseDesignVariable.cpp: In member function ‘aslam::backend::TransformationExpression aslam::splines::BSplineRSPoseDesignVariable::transformation(double, double)’:
/home/catkin_ws/src/aslam_splines/aslam_splines/src/BSplineRSPoseDesignVariable.cpp:67:157: error: invalid new-expression of abstract class type ‘aslam::splines::RSLineDelayTransformationExpressionNode’
boost::shared_ptr root( new RSLineDelayTransformationExpressionNode( _bsplinePoseDV, _lineDelayDV, t0, line) );
Using gcc version of 5.5.0
Thks a lot for help!
It's the same issue from ethz-asl/kalibr#383
Hello, everyone. I'm studying the code of kalibr and trying to figure out the algorithm details for IMU-Camera calibration. kalibr uses the BSpline to represent the trajectory of IMU(or camera), and in the BSpline initialization, the below methods are called.
void BSplinePose::initPoseSplineSparse(const Eigen::VectorXd & times, const Eigen::Matrix<double,6,Eigen::Dynamic> & poses, int numSegments, double lambda)
, see code in linevoid BSpline::initSplineSparse(const Eigen::VectorXd & times, const Eigen::MatrixXd & interpolationPoints, int numSegments, double lambda)
, see code in lineI'm trying to understand the mathematics detail in BSpline::initSplineSparse()
. Currently, I have understand several things,
void BSpline::initSplineSparse()
is the sparse version of `void BSpline::initSpline3()', see code in line // make this conditional on the order of the spline:
if (splineOrder_ == 2)
A += curveQuadraticIntegralDiag(W, 1);
else
A += curveQuadraticIntegralDiag(W, 2);
However, I couldn't understand the mathematical details in method Eigen::MatrixXd BSpline::curveQuadraticIntegralDiag(const Eigen::VectorXd& Wdiag, int derivativeOrder)
(see code in line). Is anyone know the details? or some paper could be referenced?
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