<?xml version="1.0" encoding="utf-8" ?><rss version="2.0"><channel><title><![CDATA[u011906844的博客]]></title><description><![CDATA[]]></description><link>https://blog.youkuaiyun.com/u011906844</link><language>zh-cn</language><generator>https://blog.youkuaiyun.com/</generator><copyright><![CDATA[Copyright &copy; u011906844]]></copyright><item><title><![CDATA[【C++编程】std::unordered_map的value值不能是const成员 ？]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/127086389</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/127086389</guid><author>u011906844</author><pubDate>Wed, 28 Sep 2022 11:30:22 +0800</pubDate><description><![CDATA[C++ map的value值设定是否能设置为const]]></description><category></category></item><item><title><![CDATA[【他山之玉】如何管理]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/122418167</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/122418167</guid><author>u011906844</author><pubDate>Mon, 10 Jan 2022 20:05:43 +0800</pubDate><description><![CDATA[1. 定期举办沟通会，同步工作信息、外部市场（外部厂家）对我们的技术需求

2. 定期进行前言技术跟踪分享，分略读、精读不同的分享。这些分享的目的在两方面：一是拓展视野，二是最新技术能否反哺产品技术。
...]]></description><category></category></item><item><title><![CDATA[【他山之玉】GPS/RTK相关]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/122339455</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/122339455</guid><author>u011906844</author><pubDate>Thu, 06 Jan 2022 13:57:41 +0800</pubDate><description><![CDATA[1. 一般在GPS + IMU + 基站的离线算法优化处理中，得到的是目前业界质量最高的定位结果。其定位结果信息多样性，举个能输出21个数据项的例子：

数据项
			单位
			物理意义
		UTCTime
			sec
			一般其实存的是UNIX时间戳（1970年1月1日（UTC/GMT的午夜）开始所经过的秒数，不考虑闰秒）
		Northing
			m
			在东北天-XYZ坐标系中对应Y坐标
		Easting
			m
			在东北天-XYZ坐标系中对应X坐标
		Latitude
			de]]></description><category></category></item><item><title><![CDATA[【他山之玉】Transformer]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/122339024</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/122339024</guid><author>u011906844</author><pubDate>Thu, 06 Jan 2022 10:56:08 +0800</pubDate><description><![CDATA[1. 通俗易懂的材料介绍：NLP之Self-Attention和Transformer（通俗易懂的解释） | 码农家园
]]></description><category></category></item><item><title><![CDATA[【他山之玉】曲线平滑算法]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/122244574</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/122244574</guid><author>u011906844</author><pubDate>Thu, 30 Dec 2021 20:12:50 +0800</pubDate><description><![CDATA[1.https://en.wikipedia.org/wiki/Moving_least_squares

2.曲线篇：深刻理解B 样条曲线（上） - 知乎
]]></description><category></category></item><item><title><![CDATA[【他山之玉】传感器标定]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/122244548</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/122244548</guid><author>u011906844</author><pubDate>Thu, 30 Dec 2021 20:10:03 +0800</pubDate><description><![CDATA[1.https://www.guyuehome.com/35393
]]></description><category></category></item><item><title><![CDATA[【他山之玉】矩阵分解]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/122244530</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/122244530</guid><author>u011906844</author><pubDate>Thu, 30 Dec 2021 20:08:54 +0800</pubDate><description><![CDATA[1.几种矩阵分解算法： LU分解，Cholesky分解，QR分解，SVD分解，Jordan分解_mucai1的专栏-优快云博客_qr分解
]]></description><category></category></item><item><title><![CDATA[【他山之玉】三维旋转的各种数学表达式]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/122244514</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/122244514</guid><author>u011906844</author><pubDate>Thu, 30 Dec 2021 20:08:12 +0800</pubDate><description><![CDATA[1.Understanding Quaternions 中文翻译《理解四元数》 – Wyman的原创技术博客 – 恭喜你发现我的小站，撩我请加QQ：234707482、Wechat：_Wyman
]]></description><category></category></item><item><title><![CDATA[车辆转弯半径]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/122216937</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/122216937</guid><author>u011906844</author><pubDate>Wed, 29 Dec 2021 15:25:15 +0800</pubDate><description><![CDATA[1. SUV或者小汽车

一般其最小转弯半径 &gt;= 5.0m， 不同车辆的转向系统不一样。但是为了兼顾大多数车辆，所以道路施工中路面转弯半径都比较大。

2. 配送车辆

    一般最小转弯半径 &gt; 3m。
...]]></description><category></category></item><item><title><![CDATA[C++中malloc/free与new/delete的区别与联系]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/122101867</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/122101867</guid><author>u011906844</author><pubDate>Thu, 23 Dec 2021 10:52:47 +0800</pubDate><description><![CDATA[目录



一、基本概念

二、区别：

一、基本概念


malloc/free：
1、函数原型及说明：

   void *malloc(long NumBytes)：该函数分配了NumBytes个字节，并返回了指向这块内存的指针。如果分配失败，则返回一个空指针（NULL）。

   void free(void *FirstByte)： 该函数是将之前用malloc分配的空间还给程序或者是操作系统，也就是释放了这块内存，让它重新得到自由。

2.内存操作：

  malloc函数的参...]]></description><category></category></item><item><title><![CDATA[std::map emplace an object with a constructor of more than one parameters]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/122101797</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/122101797</guid><author>u011906844</author><pubDate>Thu, 23 Dec 2021 10:50:27 +0800</pubDate><description><![CDATA[// map::emplace
#include &lt;iostream&gt;
#include &lt;map&gt;

class Test {
 public:
  Test(int i, int k) : ii(i), kk(k) {
    std::cout &lt;&lt; "ii = " &lt;&lt; ii &lt;&lt; ", kk = " &lt;&lt; kk &lt;&lt; std::endl;
  }
  Test(const Test&amp; other) : i.]]></description><category></category></item><item><title><![CDATA[IMU积分的几种方法对比]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/122072808</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/122072808</guid><author>u011906844</author><pubDate>Tue, 21 Dec 2021 20:44:54 +0800</pubDate><description><![CDATA[目录



1. 欧拉法积分

2. 中值积分

3. 龙哥库塔积分

参考文献：

可参考博客：常见的数值积分方法 （欧拉、中值、龙格-库塔，【常用于IMU中】）_努力努力努力-优快云博客_欧拉数值积分法

1. 欧拉法积分





2. 中值积分



3. 龙哥库塔积分





参考文献：

[1]https://en.wikipedia.org/wiki/Euler_method
[2]https://en.wikipedia.org/wiki/Midpoint_method
[3]...]]></description><category></category></item><item><title><![CDATA[IMU陀螺仪更新姿态的两种表示方式]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/122072032</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/122072032</guid><author>u011906844</author><pubDate>Tue, 21 Dec 2021 20:17:31 +0800</pubDate><description><![CDATA[0. 前言

在使用IMU的场景中，陀螺仪测量的是t+1时刻body坐标系相较于t时刻body坐标系的旋转速度，则

姿态增量计算为：delta_t * w^T= delta_t * [w_x, w_y, w_z]^T .则已知t时刻body坐标系在全局坐标系（有可能就是开机第一帧IMU坐标系）下的旋转姿态的情况下，我们可以计算t+1时刻的body坐标系在全局坐标系下的旋转姿态。这里根据姿态采样旋转矩阵表示还是采用四元数表示有所不同。

1. 用角速度更新旋转矩阵

获取姿态增量的反对称矩阵：

W = .]]></description><category></category></item><item><title><![CDATA[关于Lidar-IMU标定]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/121900656</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/121900656</guid><author>u011906844</author><pubDate>Mon, 13 Dec 2021 10:53:32 +0800</pubDate><description><![CDATA[1.【学习总结】Lidar与IMU标定_larrydong的博客-优快云博客_imu lidar
]]></description><category></category></item><item><title><![CDATA[Eigen中几种表示三维位姿的方式以及相互转换]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/121863578</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/121863578</guid><author>u011906844</author><pubDate>Fri, 10 Dec 2021 19:43:26 +0800</pubDate><description><![CDATA[1. 普通4*4矩阵 Eigen::Matrix


Eigen::Matrix&lt;Type, 4, 4&gt; transformation =Eigen::Matrix&lt;Type, 4, 4&gt;::Identity().



2. 等距映射：Eigen::Isometry3d


Eigen::Quaterniond quaternion;

// 依次旋转yaw, pitch, roll
// 即： R = R_z * R_y * R_x
quaternion = Eigen::An.]]></description><category></category></item><item><title><![CDATA[常见IMU的性能比较]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/121489013</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/121489013</guid><author>u011906844</author><pubDate>Tue, 23 Nov 2021 11:27:19 +0800</pubDate><description><![CDATA[型号
			gyr零偏稳定性
			gyr量程
			acc零偏稳定性
			acc量程
			HZ
			价格
		
			EG320N （epson）

			http://www.canalgeomatics.com/wp-content/uploads/2020/06/oem-imu-eg320n-datasheet.pdf
			
			3.5 deg/hr
			±150 deg/sec
			0.1 mg
			±5 g
			125Hz or 200Hz
			未知
		
			mti-30]]></description><category></category></item><item><title><![CDATA[在QGIS中加载OpenStreetMap正射影地图，以及相关轨迹数据]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/121395115</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/121395115</guid><author>u011906844</author><pubDate>Thu, 18 Nov 2021 11:07:40 +0800</pubDate><description><![CDATA[1. 首先在ubuntu上安装QGIS，参考如下方法：


https://qgis.org/zh-Hans/site/forusers/alldownloads.html#debian-ubuntu

2. 启动QGIS，配置OpenStreetMap

1） 邮件点击TileServer, 选择NewConnection..



2）在弹窗中输入OpenSteetMap的数据网址：http://tile.openstreetmap.org/{z}/{x}/{y}.png

      ...]]></description><category></category></item><item><title><![CDATA[C++程序使用Glog打印调试信息，输出程序崩溃的堆栈]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/121374260</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/121374260</guid><author>u011906844</author><pubDate>Wed, 17 Nov 2021 15:42:56 +0800</pubDate><description><![CDATA[1 下载安装glog


1 Git clone https://github.com/google/glog.git
2 cd glog
3 ./autogen.sh
4 ./configure  --prefix=path(install)
5 make
6 make install

2 在CMakeLists.txt中添加glog


find_package(Glog REQUIRED)

include_directories(
  ${GLOG_INCLUDE_DIRS}
)

## 把glo]]></description><category></category></item><item><title><![CDATA[解放双手——相机与IMU外参的在线标定]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/120830660</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/120830660</guid><author>u011906844</author><pubDate>Mon, 18 Oct 2021 17:25:58 +0800</pubDate><description><![CDATA[解放双手——相机与IMU外参的在线标定 - 云+社区 - 腾讯云




]]></description><category></category></item><item><title><![CDATA[在ubuntu18.04编译安装CloudCompare对pcd点云进行可视化(步骤以及需要注意的坑)]]></title><link>https://blog.youkuaiyun.com/u011906844/article/details/119867932</link><guid>https://blog.youkuaiyun.com/u011906844/article/details/119867932</guid><author>u011906844</author><pubDate>Mon, 23 Aug 2021 14:06:03 +0800</pubDate><description><![CDATA[0. 依赖项安装：


https://github.com/CloudCompare/CloudCompare/blob/master/BUILD.md

1. 获取源码：


https://github.com/CloudCompare/CloudCompare

2. 编译：


cd ${project_root}
mkdir build
cd build/
cmake ..


3. 配置PCD选项

  在build目录下的CMakeCache.txt文件中把PCL的相关选项改为ON

...]]></description><category></category></item></channel></rss>