{"id":133302,"date":"2024-03-26T02:59:04","date_gmt":"2024-03-25T17:59:04","guid":{"rendered":"https:\/\/www.silicloud.com\/ja\/blog\/g2o%ef%bc%88%e4%b8%80%e8%88%ac%e3%82%b0%e3%83%a9%e3%83%95%e6%9c%80%e9%81%a9%e5%8c%96%ef%bc%89%e5%85%a5%e9%96%80%e3%81%a8%e7%b0%a1%e5%8d%98%e3%81%aa%e4%bd%bf%e3%81%84%e6%96%b9\/"},"modified":"2024-03-27T23:58:40","modified_gmt":"2024-03-27T14:58:40","slug":"g2o%ef%bc%88%e4%b8%80%e8%88%ac%e3%82%b0%e3%83%a9%e3%83%95%e6%9c%80%e9%81%a9%e5%8c%96%ef%bc%89%e5%85%a5%e9%96%80%e3%81%a8%e7%b0%a1%e5%8d%98%e3%81%aa%e4%bd%bf%e3%81%84%e6%96%b9","status":"publish","type":"post","link":"https:\/\/www.silicloud.com\/ja\/blog\/g2o%ef%bc%88%e4%b8%80%e8%88%ac%e3%82%b0%e3%83%a9%e3%83%95%e6%9c%80%e9%81%a9%e5%8c%96%ef%bc%89%e5%85%a5%e9%96%80%e3%81%a8%e7%b0%a1%e5%8d%98%e3%81%aa%e4%bd%bf%e3%81%84%e6%96%b9\/","title":{"rendered":"G2O\uff08\u4e00\u822c\u30b0\u30e9\u30d5\u6700\u9069\u5316\uff09\u5165\u9580\u3068\u7c21\u5358\u306a\u4f7f\u3044\u65b9"},"content":{"rendered":"

G2O\u306f\u3001\u30b0\u30e9\u30d5\u6700\u9069\u5316\u306b\u3088\u304f\u5229\u7528\u3055\u308c\u308b\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u30e9\u30a4\u30d6\u30e9\u30ea\u3067\u3001SLAM(Simultaneous Localization and Mapping)\u306a\u3069\u306e\u5206\u91ce\u3067\u3088\u304f\u4f7f\u7528\u3055\u308c\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u3001G2O\u306e\u57fa\u672c\u7684\u306a\u4f7f\u7528\u65b9\u6cd5\u3068\u7c21\u5358\u306a\u4f7f\u7528\u65b9\u6cd5\u3092\u7d39\u4ecb\u3057\u307e\u3059\u3002<\/p>\n

    \n
  1. G2O\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb<\/li>\n<\/ol>\n

    \u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3067Github\u304b\u3089G2O\u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3092\u30af\u30ed\u30fc\u30f3\u3067\u304d\u307e\u3059\uff1a<\/p>\n

    git clone https:\/\/github.com\/RainerKuemmerle\/g2o.git\r\n<\/code><\/pre>\n
    G2O\u306e\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u306b\u5f93\u3063\u3066\u30b3\u30f3\u30d1\u30a4\u30eb\u3068\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3092\u3057\u307e\u3059\u3002<\/p>\n
      \n
    1. G2O\u6700\u9069\u5316\u554f\u984c\u3092\u4f5c\u6210\u3059\u308b<\/li>\n<\/ol>\n
      \u307e\u305a\u3001g2o::BaseUnaryEdge\u3082\u3057\u304f\u306fg2o::BaseBinaryEdge\u3092\u7d99\u627f\u3057\u305f\u30af\u30e9\u30b9\u3092\u4f5c\u6210\u3057\u3001\u6700\u9069\u5316\u554f\u984c\u306e\u65b9\u7a0b\u5f0f\u7cfb\u3092\u5b9a\u7fa9\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002\u3053\u306e\u30af\u30e9\u30b9\u3067\u306f\u3001\u8aa4\u5dee\u306e\u8a08\u7b97\u6cd5\u3068\u30e4\u30b3\u30d3\u30a2\u30f3\u884c\u5217\u3092\u8a08\u7b97\u3059\u308b\u65b9\u6cd5\u3092\u5b9f\u88c5\u3057\u306a\u3051\u308c\u3070\u306a\u308a\u307e\u305b\u3093\u3002<\/p>\n
      class<\/span> MyEdge<\/span> : public<\/span> g2o::BaseUnaryEdge<double<\/span>, double<\/span>, g2o::VertexX>\r\n{\r\npublic<\/span>:\r\nvoid<\/span> computeError<\/span>()<\/span>\r\n<\/span>{\r\nconst<\/span> g2o::VertexX* v = static_cast<\/span><const<\/span> g2o::VertexX*>(_vertices[0<\/span>]);\r\ndouble<\/span> estimate = v->estimate<\/span>();\r\n_error = _measurement - estimate;\r\n}\r\nvoid<\/span> linearizeOplus<\/span>()<\/span>\r\n<\/span>{\r\nconst<\/span> g2o::VertexX* v = static_cast<\/span><const<\/span> g2o::VertexX*>(_vertices[0<\/span>]);\r\ndouble<\/span> estimate = v->estimate<\/span>();\r\n_jacobianOplusXi = -1.0<\/span>;\r\n}\r\n};\r\n<\/code><\/pre>\n
        \n
      1. G2O\u30aa\u30d7\u30c6\u30a3\u30de\u30a4\u30b6\u30fc\u3092\u4f5c\u6210\u3057\u307e\u3059<\/li>\n<\/ol>\n
        \u7d9a\u3044\u3066\u3001\u6700\u9069\u5316\u30d7\u30ed\u30bb\u30b9\u3092\u7ba1\u7406\u3001\u5b9f\u884c\u3059\u308b\u305f\u3081\u306e g2o::SparseOptimizer \u30aa\u30d6\u30b8\u30a7\u30af\u30c8\u3092\u4f5c\u6210\u3059\u308b\u5fc5\u8981\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n
        g2o::SparseOptimizer optimizer;\r\n<\/code><\/pre>\n
          \n
        1. \u9802\u70b9\u3068\u8fba\u3092\u8ffd\u52a0\u3059\u308b<\/li>\n<\/ol>\n
          \u6b21\u306b\u3001addVertex\u30e1\u30bd\u30c3\u30c9\u3067\u5909\u6570\uff08\u9802\u70b9\uff09\u3092\u8ffd\u52a0\u3057\u3001addEdge\u30e1\u30bd\u30c3\u30c9\u3067\u8fba\u3092\u8ffd\u52a0\u3057\u307e\u3059\u3002<\/p>\n
          g2o::VertexX* v = new<\/span> g2o::VertexX<\/span>();\r\nv->setId<\/span>(0<\/span>);\r\nv->setEstimate<\/span>(0.0<\/span>);\r\noptimizer.addVertex<\/span>(v);\r\nMyEdge* e = new<\/span> MyEdge<\/span>();\r\ne->setId<\/span>(0<\/span>);\r\ne->setMeasurement<\/span>(1.0<\/span>);\r\ne->setVertex<\/span>(0<\/span>, v);\r\noptimizer.addEdge<\/span>(e);\r\n<\/code><\/pre>\n
            \n
          1. \u6700\u9069\u5316\u3092\u5b9f\u884c\u3059\u308b<\/li>\n<\/ol>\n
            \u6700\u5f8c\u306b\u3001\u30b0\u30e9\u30d5\u306e\u6700\u9069\u5316\u306b G2O \u306e\u6700\u9069\u5316\u5668\u3092\u4f7f\u7528\u3067\u304d\u307e\u3059\u3002<\/p>\n
            optimizer.initializeOptimization<\/span>();\r\noptimizer.optimize<\/span>(10<\/span>);  \/\/ \u8fed\u4ee3\u6b21\u6570\u4e3a10<\/span>\r\n<\/code><\/pre>\n
            \u3053\u306e\u4f8b\u3067\u306f10\u56de\u306e\u6700\u9069\u5316\u53cd\u5fa9\u3092\u884c\u3044\u307e\u3059\u3002\u8a73\u7d30\u306a\u6700\u9069\u5316\u60c5\u5831\u3092\u8868\u793a\u3059\u308b\u306b\u306fsetVerbose(true)\u30e1\u30bd\u30c3\u30c9\u3092\u4f7f\u7528\u3067\u304d\u307e\u3059\u3002<\/p>\n
            \u3072\u3068\u3064\u4f8b\u3068\u3057\u3066\u3001\u9802\u70b9\u3068\u8fba\u306e\u30af\u30e9\u30b9\u3092\u5b9a\u7fa9\u3057\u3066G2O\u306e\u6700\u9069\u5316\u5668\u3067\u6700\u9069\u5316\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u3001\u3055\u307e\u3056\u307e\u306a\u30b0\u30e9\u30d5\u30c8\u30c3\u30d7\u306e\u6700\u9069\u5316\u554f\u984c\u3092\u89e3\u304f\u3001G2O\u5165\u9580\u30fb\u4f7f\u3044\u65b9\u3092\u7c21\u5358\u306b\u8aac\u660e\u3057\u307e\u3059\u3002\u8a73\u3057\u3044G2O\u306e\u4f7f\u3044\u65b9\u306b\u3064\u3044\u3066\u306f\u3001G2O\u306e\u516c\u5f0f\u30c9\u30ad\u30e5\u30e1\u30f3\u30c8\u3092\u53c2\u7167\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"
            G2O\u306f\u3001\u30b0\u30e9\u30d5\u6700\u9069\u5316\u306b\u3088\u304f\u5229\u7528\u3055\u308c\u308b\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u30e9\u30a4\u30d6\u30e9\u30ea\u3067\u3001SLAM(Simultaneous Localization and Mapping)\u306a\u3069\u306e\u5206\u91ce\u3067\u3088\u304f\u4f7f\u7528\u3055\u308c\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u3001G2O\u306e\u57fa\u672c\u7684\u306a\u4f7f\u7528\u65b9\u6cd5\u3068\u7c21 […]<\/p>\n","protected":false},"author":4,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[],"class_list":["post-133302","post","type-post","status-publish","format-standard","hentry","category-uncategorized"],"yoast_head":"\nG2O\uff08\u4e00\u822c\u30b0\u30e9\u30d5\u6700\u9069\u5316\uff09\u5165\u9580\u3068\u7c21\u5358\u306a\u4f7f\u3044\u65b9 - Blog - Silicon Cloud<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.silicloud.com\/ja\/blog\/g2o\uff08\u4e00\u822c\u30b0\u30e9\u30d5\u6700\u9069\u5316\uff09\u5165\u9580\u3068\u7c21\u5358\u306a\u4f7f\u3044\u65b9\/\" \/>\n<meta property=\"og:locale\" content=\"ja_JP\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"G2O\uff08\u4e00\u822c\u30b0\u30e9\u30d5\u6700\u9069\u5316\uff09\u5165\u9580\u3068\u7c21\u5358\u306a\u4f7f\u3044\u65b9\" \/>\n<meta property=\"og:description\" content=\"G2O\u306f\u3001\u30b0\u30e9\u30d5\u6700\u9069\u5316\u306b\u3088\u304f\u5229\u7528\u3055\u308c\u308b\u30aa\u30fc\u30d7\u30f3\u30bd\u30fc\u30b9\u30e9\u30a4\u30d6\u30e9\u30ea\u3067\u3001SLAM(Simultaneous Localization and Mapping)\u306a\u3069\u306e\u5206\u91ce\u3067\u3088\u304f\u4f7f\u7528\u3055\u308c\u307e\u3059\u3002\u3053\u3053\u3067\u306f\u3001G2O\u306e\u57fa\u672c\u7684\u306a\u4f7f\u7528\u65b9\u6cd5\u3068\u7c21 […]\" \/>\n<meta property=\"og:url\" content=\"https:\/\/www.silicloud.com\/ja\/blog\/g2o\uff08\u4e00\u822c\u30b0\u30e9\u30d5\u6700\u9069\u5316\uff09\u5165\u9580\u3068\u7c21\u5358\u306a\u4f7f\u3044\u65b9\/\" \/>\n<meta property=\"og:site_name\" content=\"Blog - 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