InterPoseLib

Interpolation-Pose algorithms implementation.
I implemented 2 methods.

1. Quarternion + R^3 Interpolation
   Generally pose is described by rotation and translation. In this method, rotation is interpolated by Quarternion slerp, and translation is interpolated linearly. Interpolated trajectory generated by this is a street line.
2. SE(3) Interpolation
   In this method, pose is described by SE(3). If you need smooth trajectory, this is better.

How to use

git clone --recursive [email protected]:cashiwamochi/InterPoseLib.git
chmod +x first_build.sh
./first_build.sh
./build/bin/exampleInterPoseViewer
./build/bin/exampleInterPose

exampleInterPose.cc shows you how to use.
viewer/exampleInterPoseViewer.cc shows you each trajectory. Of course you can try various params.

Example(exampleInterPoseViewer)

Red poses are source pose and destination pose. Yellow poses are generated by SE3-interpolation and blue poses are generated by Quat+R^3-interpolation.

Dependencies

I use Pangolin and Eigen. Those modules have been registered as submodule in this repository, so plase don't forget --recursive when you clone.

References

Papar_for_SE3_SO3

なにこれ

オドメトリやSfMをやると，フレーム間の姿勢を補間したいと思うときが時々ある． そんなときに使えるような補間アルゴリズムを軽くまとめた． 姿勢を位置と回転に分離して補間する場合はQuatAntTInterpolatorを，あくまで剛体運動する物体に対し補間をしたい場合はSE3Interpolatorを使う． exampleInterPoseViewerで好きな姿勢を設定して補間できるので，ちゃんと動くか確認する場合はそちらをおすすめ． 簡潔な使い方を知りたい場合には，exampleInterPose.ccを読むと良い．