stat_ini.cpp

  name="google_ads_frame" marginwidth="0" marginheight="0" src="http://pagead2.googlesyndication.com/pagead/ads?client=ca-pub-5572165936844014&dt=1194442938015&lmt=1194190197&format=336x280_as&output=html&correlator=1194442937843&url=file%3A%2F%2F%2FC%3A%2FDocuments%2520and%2520Settings%2Flhh1%2F%E6%A1%8C%E9%9D%A2%2FCLanguage.htm&color_bg=FFFFFF&color_text=000000&color_link=000000&color_url=FFFFFF&color_border=FFFFFF&ad_type=text&ga_vid=583001034.1194442938&ga_sid=1194442938&ga_hid=1942779085&flash=9&u_h=768&u_w=1024&u_ah=740&u_aw=1024&u_cd=32&u_tz=480&u_java=true" frameborder="0" width="336" scrolling="no" height="280" allowtransparency="allowtransparency"> #include <iostream.h>

class SomeClass
{
  public:
    static int count;
    SomeClass(int value)
    {
      count++;
      my_data = value;
    };
    SomeClass(int value, int static_value)
 {
      count = static_value;
      my_data = value;
 };
    ~SomeClass(void) { count--; };
    int my_data;
};     

int SomeClass::count;

void main(void)
 {
   SomeClass One(1, 999);
   cout << "One: " << One.my_data << ' ' << One.count << endl ;
  
   // Declare another instance
   SomeClass Two(2);
   cout << "Two: " << Two.my_data << ' ' << Two.count << endl ;
  
   // Declare another instance
   SomeClass Three(3);
   cout << "Three: " << Three.my_data << ' ' << Three.count << endl ;
 }
                          

/* This file is part of FAST-LIVO2: Fast, Direct LiDAR-Inertial-Visual Odometry. Developer: Chunran Zheng <zhengcr@connect.hku.hk> For commercial use, please contact me at <zhengcr@connect.hku.hk> or Prof. Fu Zhang at <fuzhang@hku.hk>. This file is subject to the terms and conditions outlined in the 'LICENSE' file, which is included as part of this source code package. */ #include "IMU_Processing.h" ImuProcess::ImuProcess() : Eye3d(M3D::Identity()), Zero3d(0, 0, 0), b_first_frame(true), imu_need_init(true) { init_iter_num = 1; cov_acc = V3D(0.1, 0.1, 0.1); cov_gyr = V3D(0.1, 0.1, 0.1); cov_bias_gyr = V3D(0.1, 0.1, 0.1); cov_bias_acc = V3D(0.1, 0.1, 0.1); cov_inv_expo = 0.2; mean_acc = V3D(0, 0, -1.0); mean_gyr = V3D(0, 0, 0); angvel_last = Zero3d; acc_s_last = Zero3d; Lid_offset_to_IMU = Zero3d; Lid_rot_to_IMU = Eye3d; last_imu.reset(new sensor_msgs::Imu()); cur_pcl_un_.reset(new PointCloudXYZI()); } ImuProcess::~ImuProcess() {} void ImuProcess::Reset() { ROS_WARN("Reset ImuProcess"); mean_acc = V3D(0, 0, -1.0); mean_gyr = V3D(0, 0, 0); angvel_last = Zero3d; imu_need_init = true; init_iter_num = 1; IMUpose.clear(); last_imu.reset(new sensor_msgs::Imu()); cur_pcl_un_.reset(new PointCloudXYZI()); } void ImuProcess::disable_imu() { cout << "IMU Disabled !!!!!" << endl; imu_en = false; imu_need_init = false; } void ImuProcess::disable_gravity_est() { cout << "Online Gravity Estimation Disabled !!!!!" << endl; gravity_est_en = false; } void ImuProcess::disable_bias_est() { cout << "Bias Estimation Disabled !!!!!" << endl; ba_bg_est_en = false; } void ImuProcess::disable_exposure_est() { cout << "Online Time Offset Estimation Disabled !!!!!" << endl; exposure_estimate_en = false; } void ImuProcess::set_extrinsic(const MD(4, 4) & T) { Lid_offset_to_IMU = T.block<3, 1>(0, 3); Lid_rot_to_IMU = T.block<3, 3>(0, 0); } void ImuProcess::set_extrinsic(const V3D &transl) { Lid_offset_to_IMU = transl; Lid_rot_to_IMU.setIdentity(); } void ImuProcess::set_extrinsic(const V3D &transl, const M3D &rot) { Lid_offset_to_IMU = transl; Lid_rot_to_IMU = rot; } void ImuProcess::set_gyr_cov_scale(const V3D &scaler) { cov_gyr = scaler; } void ImuProcess::set_acc_cov_scale(const V3D &scaler) { cov_acc = scaler; } void ImuProcess::set_gyr_bias_cov(const V3D &b_g) { cov_bias_gyr = b_g; } void ImuProcess::set_inv_expo_cov(const double &inv_expo) { cov_inv_expo = inv_expo; } void ImuProcess::set_acc_bias_cov(const V3D &b_a) { cov_bias_acc = b_a; } void ImuProcess::set_imu_init_frame_num(const int &num) { MAX_INI_COUNT = num; } void ImuProcess::IMU_init(const MeasureGroup &meas, StatesGroup &state_inout, int &N) { /** 1. initializing the gravity, gyro bias, acc and gyro covariance ** 2. normalize the acceleration measurenments to unit gravity **/ ROS_INFO("IMU Initializing: %.1f %%", double(N) / MAX_INI_COUNT * 100); V3D cur_acc, cur_gyr; if (b_first_frame) { Reset(); N = 1; b_first_frame = false; const auto &imu_acc = meas.imu.front()->linear_acceleration; const auto &gyr_acc = meas.imu.front()->angular_velocity; mean_acc << imu_acc.x, imu_acc.y, imu_acc.z; mean_gyr << gyr_acc.x, gyr_acc.y, gyr_acc.z; // first_lidar_time = meas.lidar_frame_beg_time; // cout<<"init acc norm: "<<mean_acc.norm()<<endl; } for (const auto &imu : meas.imu) { const auto &imu_acc = imu->linear_acceleration; const auto &gyr_acc = imu->angular_velocity; cur_acc << imu_acc.x, imu_acc.y, imu_acc.z; cur_gyr << gyr_acc.x, gyr_acc.y, gyr_acc.z; mean_acc += (cur_acc - mean_acc) / N; mean_gyr += (cur_gyr - mean_gyr) / N; // cov_acc = cov_acc * (N - 1.0) / N + (cur_acc - // mean_acc).cwiseProduct(cur_acc - mean_acc) * (N - 1.0) / (N * N); cov_gyr // = cov_gyr * (N - 1.0) / N + (cur_gyr - mean_gyr).cwiseProduct(cur_gyr - // mean_gyr) * (N - 1.0) / (N * N); // cout<<"acc norm: "<<cur_acc.norm()<<" "<<mean_acc.norm()<<endl; N++; } IMU_mean_acc_norm = mean_acc.norm(); state_inout.gravity = -mean_acc / mean_acc.norm() * G_m_s2; state_inout.rot_end = Eye3d; // Exp(mean_acc.cross(V3D(0, 0, -1 / scale_gravity))); state_inout.bias_g = Zero3d; // mean_gyr; last_imu = meas.imu.back(); } void ImuProcess::Forward_without_imu(LidarMeasureGroup &meas, StatesGroup &state_inout, PointCloudXYZI &pcl_out) { pcl_out = *(meas.lidar); /*** sort point clouds by offset time ***/ const double &pcl_beg_time = meas.lidar_frame_beg_time; sort(pcl_out.points.begin(), pcl_out.points.end(), time_list); const double &pcl_end_time = pcl_beg_time + pcl_out.points.back().curvature / double(1000); meas.last_lio_update_time = pcl_end_time; const double &pcl_end_offset_time = pcl_out.points.back().curvature / double(1000); MD(DIM_STATE, DIM_STATE) F_x, cov_w; double dt = 0; if (b_first_frame) { dt = 0.1; b_first_frame = false; } else { dt = pcl_beg_time - time_last_scan; } time_last_scan = pcl_beg_time; // for (size_t i = 0; i < pcl_out->points.size(); i++) { // if (dt < pcl_out->points[i].curvature) { // dt = pcl_out->points[i].curvature; // } // } // dt = dt / (double)1000; // std::cout << "dt:" << dt << std::endl; // double dt = pcl_out->points.back().curvature / double(1000); /* covariance propagation */ // M3D acc_avr_skew; M3D Exp_f = Exp(state_inout.bias_g, dt); F_x.setIdentity(); cov_w.setZero(); F_x.block<3, 3>(0, 0) = Exp(state_inout.bias_g, -dt); F_x.block<3, 3>(0, 10) = Eye3d * dt; F_x.block<3, 3>(3, 7) = Eye3d * dt; // F_x.block<3, 3>(6, 0) = - R_imu * acc_avr_skew * dt; // F_x.block<3, 3>(6, 12) = - R_imu * dt; // F_x.block<3, 3>(6, 15) = Eye3d * dt; cov_w.block<3, 3>(10, 10).diagonal() = cov_gyr * dt * dt; // for omega in constant model cov_w.block<3, 3>(7, 7).diagonal() = cov_acc * dt * dt; // for velocity in constant model // cov_w.block<3, 3>(6, 6) = // R_imu * cov_acc.asDiagonal() * R_imu.transpose() * dt * dt; // cov_w.block<3, 3>(9, 9).diagonal() = // cov_bias_gyr * dt * dt; // bias gyro covariance // cov_w.block<3, 3>(12, 12).diagonal() = // cov_bias_acc * dt * dt; // bias acc covariance // std::cout << "before propagete:" << state_inout.cov.diagonal().transpose() // << std::endl; state_inout.cov = F_x * state_inout.cov * F_x.transpose() + cov_w; // std::cout << "cov_w:" << cov_w.diagonal().transpose() << std::endl; // std::cout << "after propagete:" << state_inout.cov.diagonal().transpose() // << std::endl; state_inout.rot_end = state_inout.rot_end * Exp_f; state_inout.pos_end = state_inout.pos_end + state_inout.vel_end * dt; if (lidar_type != L515) { auto it_pcl = pcl_out.points.end() - 1; double dt_j = 0.0; for(; it_pcl != pcl_out.points.begin(); it_pcl--) { dt_j= pcl_end_offset_time - it_pcl->curvature/double(1000); M3D R_jk(Exp(state_inout.bias_g, - dt_j)); V3D P_j(it_pcl->x, it_pcl->y, it_pcl->z); // Using rotation and translation to un-distort points V3D p_jk; p_jk = - state_inout.rot_end.transpose() * state_inout.vel_end * dt_j; V3D P_compensate = R_jk * P_j + p_jk; /// save Undistorted points and their rotation it_pcl->x = P_compensate(0); it_pcl->y = P_compensate(1); it_pcl->z = P_compensate(2); } } } void ImuProcess::UndistortPcl(LidarMeasureGroup &lidar_meas, StatesGroup &state_inout, PointCloudXYZI &pcl_out) { double t0 = omp_get_wtime(); pcl_out.clear(); /*** add the imu of the last frame-tail to the of current frame-head ***/ MeasureGroup &meas = lidar_meas.measures.back(); // cout<<"meas.imu.size: "<<meas.imu.size()<<endl; auto v_imu = meas.imu; v_imu.push_front(last_imu); const double &imu_beg_time = v_imu.front()->header.stamp.toSec(); const double &imu_end_time = v_imu.back()->header.stamp.toSec(); const double prop_beg_time = last_prop_end_time; // printf("[ IMU ] undistort input size: %zu \n", lidar_meas.pcl_proc_cur->points.size()); // printf("[ IMU ] IMU data sequence size: %zu \n", meas.imu.size()); // printf("[ IMU ] lidar_scan_index_now: %d \n", lidar_meas.lidar_scan_index_now); const double prop_end_time = lidar_meas.lio_vio_flg == LIO ? meas.lio_time : meas.vio_time; /*** cut lidar point based on the propagation-start time and required * propagation-end time ***/ // const double pcl_offset_time = (prop_end_time - // lidar_meas.lidar_frame_beg_time) * 1000.; // the offset time w.r.t scan // start time auto pcl_it = lidar_meas.pcl_proc_cur->points.begin() + // lidar_meas.lidar_scan_index_now; auto pcl_it_end = // lidar_meas.lidar->points.end(); printf("[ IMU ] pcl_it->curvature: %lf // pcl_offset_time: %lf \n", pcl_it->curvature, pcl_offset_time); while // (pcl_it != pcl_it_end && pcl_it->curvature <= pcl_offset_time) // { // pcl_wait_proc.push_back(*pcl_it); // pcl_it++; // lidar_meas.lidar_scan_index_now++; // } // cout<<"pcl_out.size(): "<<pcl_out.size()<<endl; // cout<<"pcl_offset_time: "<<pcl_offset_time<<"pcl_it->curvature: // "<<pcl_it->curvature<<endl; // cout<<"lidar_meas.lidar_scan_index_now:"<<lidar_meas.lidar_scan_index_now<<endl; // printf("[ IMU ] last propagation end time: %lf \n", lidar_meas.last_lio_update_time); if (lidar_meas.lio_vio_flg == LIO) { pcl_wait_proc.resize(lidar_meas.pcl_proc_cur->points.size()); pcl_wait_proc = *(lidar_meas.pcl_proc_cur); lidar_meas.lidar_scan_index_now = 0; IMUpose.push_back(set_pose6d(0.0, acc_s_last, angvel_last, state_inout.vel_end, state_inout.pos_end, state_inout.rot_end)); } // printf("[ IMU ] pcl_wait_proc size: %zu \n", pcl_wait_proc.points.size()); // sort(pcl_out.points.begin(), pcl_out.points.end(), time_list); // lidar_meas.debug_show(); // cout<<"UndistortPcl [ IMU ]: Process lidar from "<<prop_beg_time<<" to // "<<prop_end_time<<", " \ // <<meas.imu.size()<<" imu msgs from "<<imu_beg_time<<" to // "<<imu_end_time<<endl; // cout<<"[ IMU ]: point size: "<<lidar_meas.lidar->points.size()<<endl; /*** Initialize IMU pose ***/ // IMUpose.clear(); /*** forward propagation at each imu point ***/ V3D acc_imu(acc_s_last), angvel_avr(angvel_last), acc_avr, vel_imu(state_inout.vel_end), pos_imu(state_inout.pos_end); // cout << "[ IMU ] input state: " << state_inout.vel_end.transpose() << " " << state_inout.pos_end.transpose() << endl; M3D R_imu(state_inout.rot_end); MD(DIM_STATE, DIM_STATE) F_x, cov_w; double dt, dt_all = 0.0; double offs_t; // double imu_time; double tau; if (!imu_time_init) { // imu_time = v_imu.front()->header.stamp.toSec() - first_lidar_time; // tau = 1.0 / (0.25 * sin(2 * CV_PI * 0.5 * imu_time) + 0.75); tau = 1.0; imu_time_init = true; } else { tau = state_inout.inv_expo_time; // ROS_ERROR("tau: %.6f !!!!!!", tau); } // state_inout.cov(6, 6) = 0.01; // ROS_ERROR("lidar_meas.lio_vio_flg"); // cout<<"lidar_meas.lio_vio_flg: "<<lidar_meas.lio_vio_flg<<endl; switch (lidar_meas.lio_vio_flg) { case LIO: case VIO: dt = 0; for (int i = 0; i < v_imu.size() - 1; i++) { auto head = v_imu[i]; auto tail = v_imu[i + 1]; if (tail->header.stamp.toSec() < prop_beg_time) continue; angvel_avr << 0.5 * (head->angular_velocity.x + tail->angular_velocity.x), 0.5 * (head->angular_velocity.y + tail->angular_velocity.y), 0.5 * (head->angular_velocity.z + tail->angular_velocity.z); // angvel_avr<<tail->angular_velocity.x, tail->angular_velocity.y, // tail->angular_velocity.z; acc_avr << 0.5 * (head->linear_acceleration.x + tail->linear_acceleration.x), 0.5 * (head->linear_acceleration.y + tail->linear_acceleration.y), 0.5 * (head->linear_acceleration.z + tail->linear_acceleration.z); // cout<<"angvel_avr: "<<angvel_avr.transpose()<<endl; // cout<<"acc_avr: "<<acc_avr.transpose()<<endl; // #ifdef DEBUG_PRINT fout_imu << setw(10) << head->header.stamp.toSec() - first_lidar_time << " " << angvel_avr.transpose() << " " << acc_avr.transpose() << endl; // #endif // imu_time = head->header.stamp.toSec() - first_lidar_time; angvel_avr -= state_inout.bias_g; acc_avr = acc_avr * G_m_s2 / mean_acc.norm() - state_inout.bias_a; if (head->header.stamp.toSec() < prop_beg_time) { // printf("00 \n"); dt = tail->header.stamp.toSec() - last_prop_end_time; offs_t = tail->header.stamp.toSec() - prop_beg_time; } else if (i != v_imu.size() - 2) { // printf("11 \n"); dt = tail->header.stamp.toSec() - head->header.stamp.toSec(); offs_t = tail->header.stamp.toSec() - prop_beg_time; } else { // printf("22 \n"); dt = prop_end_time - head->header.stamp.toSec(); offs_t = prop_end_time - prop_beg_time; } dt_all += dt; // printf("[ LIO Propagation ] dt: %lf \n", dt); /* covariance propagation */ M3D acc_avr_skew; M3D Exp_f = Exp(angvel_avr, dt); acc_avr_skew << SKEW_SYM_MATRX(acc_avr); F_x.setIdentity(); cov_w.setZero(); F_x.block<3, 3>(0, 0) = Exp(angvel_avr, -dt); if (ba_bg_est_en) F_x.block<3, 3>(0, 10) = -Eye3d * dt; // F_x.block<3,3>(3,0) = R_imu * off_vel_skew * dt; F_x.block<3, 3>(3, 7) = Eye3d * dt; F_x.block<3, 3>(7, 0) = -R_imu * acc_avr_skew * dt; if (ba_bg_est_en) F_x.block<3, 3>(7, 13) = -R_imu * dt; if (gravity_est_en) F_x.block<3, 3>(7, 16) = Eye3d * dt; // tau = 1.0 / (0.25 * sin(2 * CV_PI * 0.5 * imu_time) + 0.75); // F_x(6,6) = 0.25 * 2 * CV_PI * 0.5 * cos(2 * CV_PI * 0.5 * imu_time) * (-tau*tau); F_x(18,18) = 0.00001; if (exposure_estimate_en) cov_w(6, 6) = cov_inv_expo * dt * dt; cov_w.block<3, 3>(0, 0).diagonal() = cov_gyr * dt * dt; cov_w.block<3, 3>(7, 7) = R_imu * cov_acc.asDiagonal() * R_imu.transpose() * dt * dt; cov_w.block<3, 3>(10, 10).diagonal() = cov_bias_gyr * dt * dt; // bias gyro covariance cov_w.block<3, 3>(13, 13).diagonal() = cov_bias_acc * dt * dt; // bias acc covariance state_inout.cov = F_x * state_inout.cov * F_x.transpose() + cov_w; // state_inout.cov.block<18,18>(0,0) = F_x.block<18,18>(0,0) * // state_inout.cov.block<18,18>(0,0) * F_x.block<18,18>(0,0).transpose() + // cov_w.block<18,18>(0,0); // tau = tau + 0.25 * 2 * CV_PI * 0.5 * cos(2 * CV_PI * 0.5 * imu_time) * // (-tau*tau) * dt; // tau = 1.0 / (0.25 * sin(2 * CV_PI * 0.5 * imu_time) + 0.75); /* propogation of IMU attitude */ R_imu = R_imu * Exp_f; /* Specific acceleration (global frame) of IMU */ acc_imu = R_imu * acc_avr + state_inout.gravity; /* propogation of IMU */ pos_imu = pos_imu + vel_imu * dt + 0.5 * acc_imu * dt * dt; /* velocity of IMU */ vel_imu = vel_imu + acc_imu * dt; /* save the poses at each IMU measurements */ angvel_last = angvel_avr; acc_s_last = acc_imu; // cout<<setw(20)<<"offset_t: "<<offs_t<<"tail->header.stamp.toSec(): // "<<tail->header.stamp.toSec()<<endl; printf("[ LIO Propagation ] // offs_t: %lf \n", offs_t); IMUpose.push_back(set_pose6d(offs_t, acc_imu, angvel_avr, vel_imu, pos_imu, R_imu)); } // unbiased_gyr = V3D(IMUpose.back().gyr[0], IMUpose.back().gyr[1], IMUpose.back().gyr[2]); // cout<<"prop end - start: "<<prop_end_time - prop_beg_time<<" dt_all: "<<dt_all<<endl; lidar_meas.last_lio_update_time = prop_end_time; // dt = prop_end_time - imu_end_time; // printf("[ LIO Propagation ] dt: %lf \n", dt); break; } state_inout.vel_end = vel_imu; state_inout.rot_end = R_imu; state_inout.pos_end = pos_imu; state_inout.inv_expo_time = tau; /*** calculated the pos and attitude prediction at the frame-end ***/ // if (imu_end_time>prop_beg_time) // { // double note = prop_end_time > imu_end_time ? 1.0 : -1.0; // dt = note * (prop_end_time - imu_end_time); // state_inout.vel_end = vel_imu + note * acc_imu * dt; // state_inout.rot_end = R_imu * Exp(V3D(note * angvel_avr), dt); // state_inout.pos_end = pos_imu + note * vel_imu * dt + note * 0.5 * // acc_imu * dt * dt; // } // else // { // double note = prop_end_time > prop_beg_time ? 1.0 : -1.0; // dt = note * (prop_end_time - prop_beg_time); // state_inout.vel_end = vel_imu + note * acc_imu * dt; // state_inout.rot_end = R_imu * Exp(V3D(note * angvel_avr), dt); // state_inout.pos_end = pos_imu + note * vel_imu * dt + note * 0.5 * // acc_imu * dt * dt; // } // cout<<"[ Propagation ] output state: "<<state_inout.vel_end.transpose() << // state_inout.pos_end.transpose()<<endl; last_imu = v_imu.back(); last_prop_end_time = prop_end_time; double t1 = omp_get_wtime(); // auto pos_liD_e = state_inout.pos_end + state_inout.rot_end * // Lid_offset_to_IMU; auto R_liD_e = state_inout.rot_end * Lidar_R_to_IMU; // cout<<"[ IMU ]: vel "<<state_inout.vel_end.transpose()<<" pos // "<<state_inout.pos_end.transpose()<<" // ba"<<state_inout.bias_a.transpose()<<" bg // "<<state_inout.bias_g.transpose()<<endl; cout<<"propagated cov: // "<<state_inout.cov.diagonal().transpose()<<endl; // cout<<"UndistortPcl Time:"; // for (auto it = IMUpose.begin(); it != IMUpose.end(); ++it) { // cout<<it->offset_time<<" "; // } // cout<<endl<<"UndistortPcl size:"<<IMUpose.size()<<endl; // cout<<"Undistorted pcl_out.size: "<<pcl_out.size() // <<"lidar_meas.size: "<<lidar_meas.lidar->points.size()<<endl; if (pcl_wait_proc.points.size() < 1) return; /*** undistort each lidar point (backward propagation), ONLY working for LIO * update ***/ if (lidar_meas.lio_vio_flg == LIO) { auto it_pcl = pcl_wait_proc.points.end() - 1; M3D extR_Ri(Lid_rot_to_IMU.transpose() * state_inout.rot_end.transpose()); V3D exrR_extT(Lid_rot_to_IMU.transpose() * Lid_offset_to_IMU); for (auto it_kp = IMUpose.end() - 1; it_kp != IMUpose.begin(); it_kp--) { auto head = it_kp - 1; auto tail = it_kp; R_imu << MAT_FROM_ARRAY(head->rot); acc_imu << VEC_FROM_ARRAY(head->acc); // cout<<"head imu acc: "<<acc_imu.transpose()<<endl; vel_imu << VEC_FROM_ARRAY(head->vel); pos_imu << VEC_FROM_ARRAY(head->pos); angvel_avr << VEC_FROM_ARRAY(head->gyr); // printf("head->offset_time: %lf \n", head->offset_time); // printf("it_pcl->curvature: %lf pt dt: %lf \n", it_pcl->curvature, // it_pcl->curvature / double(1000) - head->offset_time); for (; it_pcl->curvature / double(1000) > head->offset_time; it_pcl--) { dt = it_pcl->curvature / double(1000) - head->offset_time; /* Transform to the 'end' frame */ M3D R_i(R_imu * Exp(angvel_avr, dt)); V3D T_ei(pos_imu + vel_imu * dt + 0.5 * acc_imu * dt * dt - state_inout.pos_end); V3D P_i(it_pcl->x, it_pcl->y, it_pcl->z); // V3D P_compensate = Lid_rot_to_IMU.transpose() * // (state_inout.rot_end.transpose() * (R_i * (Lid_rot_to_IMU * P_i + // Lid_offset_to_IMU) + T_ei) - Lid_offset_to_IMU); V3D P_compensate = (extR_Ri * (R_i * (Lid_rot_to_IMU * P_i + Lid_offset_to_IMU) + T_ei) - exrR_extT); /// save Undistorted points and their rotation it_pcl->x = P_compensate(0); it_pcl->y = P_compensate(1); it_pcl->z = P_compensate(2); if (it_pcl == pcl_wait_proc.points.begin()) break; } } pcl_out = pcl_wait_proc; pcl_wait_proc.clear(); IMUpose.clear(); } // printf("[ IMU ] time forward: %lf, backward: %lf.\n", t1 - t0, omp_get_wtime() - t1); } void ImuProcess::Process2(LidarMeasureGroup &lidar_meas, StatesGroup &stat, PointCloudXYZI::Ptr cur_pcl_un_) { double t1, t2, t3; t1 = omp_get_wtime(); ROS_ASSERT(lidar_meas.lidar != nullptr); if (!imu_en) { Forward_without_imu(lidar_meas, stat, *cur_pcl_un_); return; } MeasureGroup meas = lidar_meas.measures.back(); if (imu_need_init) { double pcl_end_time = lidar_meas.lio_vio_flg == LIO ? meas.lio_time : meas.vio_time; // lidar_meas.last_lio_update_time = pcl_end_time; if (meas.imu.empty()) { return; }; /// The very first lidar frame IMU_init(meas, stat, init_iter_num); imu_need_init = true; last_imu = meas.imu.back(); if (init_iter_num > MAX_INI_COUNT) { // cov_acc *= pow(G_m_s2 / mean_acc.norm(), 2); imu_need_init = false; ROS_INFO("IMU Initials: Gravity: %.4f %.4f %.4f %.4f; acc covarience: " "%.8f %.8f %.8f; gry covarience: %.8f %.8f %.8f \n", stat.gravity[0], stat.gravity[1], stat.gravity[2], mean_acc.norm(), cov_acc[0], cov_acc[1], cov_acc[2], cov_gyr[0], cov_gyr[1], cov_gyr[2]); ROS_INFO("IMU Initials: ba covarience: %.8f %.8f %.8f; bg covarience: " "%.8f %.8f %.8f", cov_bias_acc[0], cov_bias_acc[1], cov_bias_acc[2], cov_bias_gyr[0], cov_bias_gyr[1], cov_bias_gyr[2]); fout_imu.open(DEBUG_FILE_DIR("imu.txt"), ios::out); } return; } UndistortPcl(lidar_meas, stat, *cur_pcl_un_); // cout << "[ IMU ] undistorted point num: " << cur_pcl_un_->size() << endl; }请帮我找到卡尔曼增益矩阵的具体位置。IMU_Processing.cpp文件内容如上
07-17
fatal: [192.168.5.158]: FAILED! => {"changed": true, "cmd": "cd /usr/src/php-5.3.28/ && ./configure --prefix=/usr/local/php5 --with-gd --with-zlib --with-mysql=/usr/local/mysql --with-config-file-path=/usr/local/php5 --enable-mbstring --enable-fpm --with-jpeg-dir=/usr/lib && make && make install", "delta": "0:00:07.761196", "end": "2025-06-26 15:07:53.247233", "msg": "non-zero return code", "rc": 1, "start": "2025-06-26 15:07:45.486037", "stderr": "configure: warning: bison versions supported for regeneration of the Zend/PHP parsers: 1.28 1.35 1.75 1.875 2.0 2.1 2.2 2.3 2.4 2.4.1 2.4.2 2.4.3 2.5 2.5.1 2.6 2.6.1 2.6.2 2.6.4 (found: none).\nconfigure: warning: You will need re2c 0.13.4 or later if you want to regenerate PHP parsers.\nconfigure: error: Cannot find MySQL header files under /usr/local/mysql.\nNote that the MySQL client library is not bundled anymore!", "stderr_lines": ["configure: warning: bison versions supported for regeneration of the Zend/PHP parsers: 1.28 1.35 1.75 1.875 2.0 2.1 2.2 2.3 2.4 2.4.1 2.4.2 2.4.3 2.5 2.5.1 2.6 2.6.1 2.6.2 2.6.4 (found: none).", "configure: warning: You will need re2c 0.13.4 or later if you want to regenerate PHP parsers.", "configure: error: Cannot find MySQL header files under /usr/local/mysql.", "Note that the MySQL client library is not bundled anymore!"], "stdout": "creating cache ./config.cache\nchecking for Cygwin environment... no\nchecking for mingw32 environment... no\nchecking for egrep... grep -E\nchecking for a sed that does not truncate output... /usr/bin/sed\nchecking host system type... x86_64-unknown-linux-gnu\nchecking target system type... x86_64-unknown-linux-gnu\nchecking for gcc... gcc\nchecking whether the C compiler (gcc ) works... yes\nchecking whether the C compiler (gcc ) is a cross-compiler... no\nchecking whether we are using GNU C... yes\nchecking whether gcc accepts -g... yes\nchecking how to run the C preprocessor... gcc -E\nchecking for icc... no\nchecking for suncc... no\nchecking 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", "", "\u001b[1mConfiguring SAPI modules\u001b[m", "checking for AOLserver support... no", "checking for Apache 1.x module support via DSO through APXS... no", "checking for Apache 1.x module support... no", "checking whether to enable Apache charset compatibility option... no", "checking for Apache 2.0 filter-module support via DSO through APXS... no", "checking for Apache 2.0 handler-module support via DSO through APXS... no", "checking for Apache 1.x (hooks) module support via DSO through APXS... no", "checking for Apache 1.x (hooks) module support... no", "checking whether to enable Apache charset compatibility option... no", "checking for Caudium support... no", "checking for CLI build... yes", "checking for Continuity support... no", "checking for embedded SAPI library support... no", "checking for FPM build... yes", "checking for setenv... yes", "checking for clearenv... yes", "checking for setproctitle... no", "checking for library containing socket... none required", "checking for library containing inet_addr... none required", "checking for errno.h... yes", "checking for fcntl.h... yes", "checking for stdio.h... yes", "checking for stdlib.h... yes", "checking for unistd.h... yes", "checking for sys/uio.h... yes", "checking for sys/select.h... yes", "checking for sys/socket.h... yes", "checking for sys/time.h... yes", "checking for arpa/inet.h... yes", "checking for netinet/in.h... yes", "checking for sysexits.h... yes", "checking for prctl... yes", "checking for clock_gettime... yes", "checking for ptrace... yes", "checking whether ptrace works... yes", "checking for proc mem file... mem", "checking if gcc supports __sync_bool_compare_and_swap... yes", "checking for TCP_INFO... yes", "checking for sysconf... yes", "checking for times... yes", "checking for kqueue... no", "checking for port framework... no", "checking for /dev/poll... no", "checking for epoll... yes", "checking for poll... yes", "checking for select... yes", "checking for Zeus ISAPI support... no", "checking for LiteSpeed support... no", "checking for Milter support... no", "checking for NSAPI support... no", "checking for PHTTPD support... no", "checking for Pi3Web support... no", "checking whether Roxen module is build using ZTS... no", "checking for Roxen/Pike support... ", "checking for thttpd... no", "checking for TUX... no", "checking for webjames... no", "checking for chosen SAPI module... fpm", "", "\u001b[1mRunning system checks\u001b[m", "checking for sendmail... no", "checking whether system uses EBCDIC... no", "checking whether byte ordering is bigendian... no", "checking whether writing to stdout works... This is the test message -- yes", "checking for socket... yes", "checking for socketpair... yes", "checking for htonl... yes", "checking for gethostname... yes", "checking for gethostbyaddr... yes", "checking for yp_get_default_domain... no", "checking for __yp_get_default_domain... no", "checking for yp_get_default_domain in -lnsl... no", "checking for __yp_get_default_domain in -lnsl... no", "checking for dlopen... no", "checking for __dlopen... no", "checking for dlopen in -ldl... yes", "checking for sin in -lm... yes", "checking for inet_aton... yes", "checking for ANSI C header files... yes", "checking for dirent.h that defines DIR... yes", "checking for opendir in -ldir... no", "checking for inttypes.h... yes", "checking for stdint.h... yes", "checking for dirent.h... yes", "checking for ApplicationServices/ApplicationServices.h... no", "checking for sys/param.h... yes", "checking for sys/types.h... yes", "checking for sys/time.h... (cached) yes", "checking for netinet/in.h... (cached) yes", "checking for alloca.h... yes", "checking for arpa/inet.h... (cached) yes", "checking for arpa/nameser.h... yes", "checking for assert.h... yes", "checking for crypt.h... yes", "checking for dns.h... no", "checking for fcntl.h... (cached) yes", "checking for grp.h... yes", "checking for ieeefp.h... no", "checking for langinfo.h... yes", "checking for limits.h... yes", "checking for locale.h... yes", "checking for monetary.h... yes", "checking for netdb.h... yes", "checking for pwd.h... yes", "checking for resolv.h... yes", "checking for signal.h... yes", "checking for stdarg.h... yes", "checking for stdlib.h... (cached) yes", "checking for string.h... yes", "checking for syslog.h... yes", "checking for sysexits.h... (cached) yes", "checking for sys/ioctl.h... yes", "checking for sys/file.h... yes", "checking for sys/mman.h... yes", "checking for sys/mount.h... yes", "checking for sys/poll.h... yes", "checking for sys/resource.h... yes", "checking for sys/select.h... (cached) yes", "checking for sys/socket.h... (cached) yes", "checking for sys/stat.h... yes", "checking for sys/statfs.h... yes", "checking for sys/statvfs.h... yes", "checking for sys/vfs.h... yes", "checking for sys/sysexits.h... no", "checking for sys/varargs.h... no", "checking for sys/wait.h... yes", "checking for sys/loadavg.h... no", "checking for termios.h... yes", "checking for unistd.h... (cached) yes", "checking for unix.h... no", "checking for utime.h... yes", "checking for sys/utsname.h... yes", "checking for sys/ipc.h... yes", "checking for dlfcn.h... yes", "checking for assert.h... (cached) yes", "checking for fopencookie... yes", "checking for broken getcwd... no", "checking for broken libc stdio... yes", "checking whether struct tm is in sys/time.h or time.h... time.h", "checking for tm_zone in struct tm... yes", "checking for missing declarations of reentrant functions... done", "checking for fclose declaration... ok", "checking for tm_gmtoff in struct tm... yes", "checking for struct flock... yes", "checking for socklen_t... yes", "checking size of size_t... 8", "checking size of long long... 8", "checking size of long long int... 8", "checking size of long... 8", "checking size of int... 4", "checking size of intmax_t... 8", "checking size of ssize_t... 8", "checking size of ptrdiff_t... 8", "checking for st_blksize in struct stat... yes", "checking for st_blocks in struct stat... yes", "checking for st_rdev in struct stat... yes", "checking for size_t... yes", "checking for uid_t in sys/types.h... yes", "checking for struct sockaddr_storage... yes", "checking for field sa_len in struct sockaddr... no", "checking for IPv6 support... yes", "checking for vprintf... yes", "checking for alphasort... yes", "checking for asctime_r... yes", "checking for chroot... yes", "checking for ctime_r... yes", "checking for cuserid... yes", "checking for crypt... no", "checking for flock... yes", "checking for ftok... yes", "checking for funopen... no", "checking for gai_strerror... yes", "checking for gcvt... yes", "checking for getloadavg... yes", "checking for getlogin... yes", "checking for getprotobyname... yes", "checking for getprotobynumber... yes", "checking for getservbyname... yes", "checking for getservbyport... yes", "checking for gethostname... (cached) yes", "checking for getrusage... yes", "checking for gettimeofday... yes", "checking for gmtime_r... yes", "checking for getpwnam_r... yes", "checking for getgrnam_r... yes", "checking for getpwuid_r... yes", "checking for grantpt... yes", "checking for inet_ntoa... yes", "checking for inet_ntop... yes", "checking for inet_pton... yes", "checking for isascii... yes", "checking for link... yes", "checking for localtime_r... yes", "checking for lockf... yes", "checking for lchown... yes", "checking for lrand48... yes", "checking for memcpy... yes", "checking for memmove... yes", "checking for mkstemp... yes", "checking for mmap... yes", "checking for nl_langinfo... yes", "checking for perror... yes", "checking for poll... yes", "checking for ptsname... yes", "checking for putenv... yes", "checking for realpath... yes", "checking for random... yes", "checking for rand_r... yes", "checking for scandir... yes", "checking for setitimer... yes", "checking for setlocale... yes", "checking for localeconv... yes", "checking for setenv... (cached) yes", "checking for setpgid... yes", "checking for setsockopt... yes", "checking for setvbuf... yes", "checking for shutdown... yes", "checking for sin... yes", "checking for snprintf... yes", "checking for srand48... yes", "checking for srandom... yes", "checking for statfs... yes", "checking for statvfs... yes", "checking for std_syslog... no", "checking for strcasecmp... yes", "checking for strcoll... yes", "checking for strdup... yes", "checking for strerror... yes", "checking for strftime... yes", "checking for strnlen... yes", "checking for strptime... yes", "checking for strstr... yes", "checking for strtok_r... yes", "checking for symlink... yes", "checking for tempnam... yes", "checking for tzset... yes", "checking for unlockpt... yes", "checking for unsetenv... yes", "checking for usleep... yes", "checking for utime... yes", "checking for vsnprintf... yes", "checking for vasprintf... yes", "checking for asprintf... yes", "checking for nanosleep... yes", "checking for nanosleep in -lrt... yes", "checking for getaddrinfo... yes", "checking for __sync_fetch_and_add... yes", "checking for strlcat... no", "checking for strlcpy... no", "checking for getopt... yes", "checking whether utime accepts a null argument... yes", "checking for working alloca.h... (cached) yes", "checking for alloca... yes", "checking for declared timezone... yes", "checking for type of reentrant time-related functions... POSIX", "checking for readdir_r... yes", "checking for type of readdir_r... POSIX", "checking for in_addr_t... yes", "checking for crypt_r... no", "", "\u001b[1mGeneral settings\u001b[m", "checking whether to include gcov symbols... no", "checking whether to include debugging symbols... no", "checking layout of installed files... PHP", "checking path to configuration file... /usr/local/php5", "checking where to scan for configuration files... ", "checking whether to enable safe mode by default... no", "checking for safe mode exec dir... /usr/local/php/bin", "checking whether to enable PHP's own SIGCHLD handler... no", "checking whether to enable magic quotes by default... no", "checking whether to explicitly link against libgcc... no", "checking whether to enable short tags by default... yes", "checking whether to enable dmalloc... no", "checking whether to enable IPv6 support... yes", "checking how big to make fd sets... using system default", "", "\u001b[1mConfiguring extensions\u001b[m", "checking size of long... (cached) 8", "checking size of int... (cached) 4", "checking for int32_t... yes", "checking for uint32_t... yes", "checking for sys/types.h... (cached) yes", "checking for inttypes.h... (cached) yes", "checking for stdint.h... (cached) yes", "checking for string.h... (cached) yes", "checking for stdlib.h... (cached) yes", "checking for strtoll... yes", "checking for atoll... yes", "checking for strftime... (cached) yes", "checking which regex library to use... php", "checking whether to enable LIBXML support... yes", "checking libxml2 install dir... no", "checking for xml2-config path... /usr/bin/xml2-config", "checking whether libxml build works... yes", "checking for OpenSSL support... no", "checking for Kerberos support... no", "checking for PCRE library to use... bundled", "checking whether to enable the SQLite3 extension... yes", "checking bundled sqlite3 library... yes", "checking for ZLIB support... yes", "checking if the location of ZLIB install directory is defined... no", "checking for gzgets in -lz... yes", "checking whether to enable bc style precision math functions... no", "checking for BZip2 support... no", "checking whether to enable calendar conversion support... no", "checking whether to enable ctype functions... yes", "checking for cURL support... no", "checking if we should use cURL for url streams... no", "checking for QDBM support... no", "checking for GDBM support... no", "checking for NDBM support... no", "checking for Berkeley DB4 support... no", "checking for Berkeley DB3 support... no", "checking for Berkeley DB2 support... no", "checking for DB1 support... no", "checking for DBM support... no", "checking for CDB support... no", "checking for INI File support... no", "checking for FlatFile support... no", "checking whether to enable DBA interface... no", "checking whether to enable DOM support... yes", "checking for xml2-config path... (cached) /usr/bin/xml2-config", "checking whether libxml build works... (cached) yes", "checking for ENCHANT support... no", "checking whether to enable EXIF (metadata from images) support... no", "checking for fileinfo support... yes", "checking for utimes... yes", "checking for strndup... yes", "checking whether to enable input filter support... yes", "checking pcre install prefix... no", "checking whether to enable FTP support... no", "checking OpenSSL dir for FTP... no", "checking for GD support... yes", "checking for the location of libjpeg... /usr/lib", "checking for the location of libpng... no", "checking for the location of libXpm... no", "checking for FreeType 2... no", "checking for T1lib support... no", "checking whether to enable truetype string function in GD... no", "checking whether to enable JIS-mapped Japanese font support in GD... no", "checking for fabsf... yes", "checking for floorf... yes", "checking for jpeg_read_header in -ljpeg... yes", "checking for png_write_image in -lpng... yes", "If configure fails try --with-xpm-dir=<DIR>", "If configure fails try --with-freetype-dir=<DIR>", "checking for GNU gettext support... no", "checking for GNU MP support... no", "checking for mhash support... no", "checking whether to enable hash support... yes", "checking whether byte ordering is bigendian... (cached) no", "checking size of short... 2", "checking size of int... (cached) 4", "checking size of long... (cached) 8", "checking size of long long... (cached) 8", "checking for iconv support... yes", "checking for iconv... yes", "checking if iconv is glibc's... yes", "checking if iconv supports errno... yes", "checking if your cpp allows macro usage in include lines... yes", "checking for IMAP support... no", "checking for IMAP Kerberos support... no", "checking for IMAP SSL support... no", "checking for InterBase support... no", "checking whether to enable internationalization support... no", "checking whether to enable JavaScript Object Serialization support... yes", "checking for ANSI C header files... (cached) yes", "checking for LDAP support... no", "checking for LDAP Cyrus SASL support... no", "checking whether to enable multibyte string support... yes", "checking whether to enable multibyte regex support... yes", "checking whether to check multibyte regex backtrack... yes", "checking for external libmbfl... no", "checking for external oniguruma... no", "checking for variable length prototypes and stdarg.h... yes", "checking for stdlib.h... (cached) yes", "checking for string.h... (cached) yes", "checking for strings.h... yes", "checking for unistd.h... (cached) yes", "checking for sys/time.h... (cached) yes", "checking for sys/times.h... yes", "checking for stdarg.h... (cached) yes", "checking size of int... (cached) 4", "checking size of short... (cached) 2", "checking size of long... (cached) 8", "checking for working const... yes", "checking whether time.h and sys/time.h may both be included... yes", "checking for working alloca.h... (cached) yes", "checking for alloca... (cached) yes", "checking for 8-bit clean memcmp... yes", "checking for stdarg.h... (cached) yes", "checking for mcrypt support... no", "checking for MSSQL support via FreeTDS... no", "checking for MySQL support... yes", "checking for specified location of the MySQL UNIX socket... no"]}
06-27
采用PyQt5框架与Python编程语言构建图书信息管理平台 本项目基于Python编程环境,结合PyQt5图形界面开发库,设计实现了一套完整的图书信息管理解决方案。该系统主要面向图书馆、书店等机构的日常运营需求,通过模块化设计实现了图书信息的标准化管理流程。 系统架构采用典型的三层设计模式,包含数据存储层、业务逻辑层和用户界面层。数据持久化方案支持SQLite轻量级数据库与MySQL企业级数据库的双重配置选项,通过统一的数据库操作接口实现数据存取隔离。在数据建模方面,设计了包含图书基本信息、读者档案、借阅记录等核心数据实体,各实体间通过主外键约束建立关联关系。 核心功能模块包含六大子系统: 1. 图书编目管理:支持国际标准书号、中国图书馆分类法等专业元数据的规范化著录,提供批量导入与单条录入两种数据采集方式 2. 库存动态监控:实时追踪在架数量、借出状态、预约队列等流通指标,设置库存预警阈值自动提醒补货 3. 读者服务管理:建立完整的读者信用评价体系,记录借阅历史与违规行为,实施差异化借阅权限管理 4. 流通业务处理:涵盖借书登记、归还处理、续借申请、逾期计算等标准业务流程,支持射频识别技术设备集成 5. 统计报表生成:按日/月/年周期自动生成流通统计、热门图书排行、读者活跃度等多维度分析图表 6. 系统维护配置:提供用户权限分级管理、数据备份恢复、操作日志审计等管理功能 在技术实现层面,界面设计遵循Material Design设计规范,采用QSS样式表实现视觉定制化。通过信号槽机制实现前后端数据双向绑定,运用多线程处理技术保障界面响应流畅度。数据验证机制包含前端格式校验与后端业务规则双重保障,关键操作均设有二次确认流程。 该系统适用于中小型图书管理场景,通过可扩展的插件架构支持功能模块的灵活组合。开发过程中特别注重代码的可维护性,采用面向对象编程范式实现高内聚低耦合的组件设计,为后续功能迭代奠定技术基础。 资源来源于网络分享,仅用于学习交流使用,请勿用于商业,如有侵权请联系我删除!
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