Shaun888-优快云博客

原创 What‘s the term “unused memory“ in PyTorch?

In the context of the PyTorch documentation, the term “unused memory” refers to GPU memory that is no longer actively used by any PyTorch tensors but is still managed by PyTorch’s caching memory allocator. Here’s how it works:Caching Allocator in PyTorch:

2024-12-25 20:13:11 820 1

原创 Why does torch.matmul output torch.float16?

【代码】Why does torch.matmul output torch.float16?

2024-12-25 15:09:26 964

原创 Algorithms for computing the convex hull

If the dataset is small (< 10,000 points):If the dataset is large with a small convex hull ():If points are uniformly distributed:If the dataset is dynamic (points arrive in a stream):For extremely large datasets (e.g., millions of points):

2024-12-22 01:07:09 862

原创 What‘s the difference between TCP Reno and TCP Tahoe? Can they exist at the same time?

TCP Reno and TCP Tahoe are two variations of the Transmission Control Protocol (TCP) that implement different congestion control algorithms. Below is a detailed comparison of the two:This makes Reno more efficient in recovering from packet loss without dra

2024-12-21 16:50:25 532

原创 What‘s the difference between inter-AS and intra-AS? What‘s the difference between : OSPF, RIP, eBGP

Intra-AS (Intra-Autonomous System):Inter-AS (Inter-Autonomous System):

2024-12-21 16:49:35 718

原创 How cv2.minAreaRect function in OpenCV computes the rotated bounding box (rbbox)?

【代码】How cv2.minAreaRect function in OpenCV computes the rotated bounding box (rbbox)?

2024-12-11 16:01:33 640

原创 How SVD (Singular Value Decomposition) method can compute the rotated bounding box (RBox)?

【代码】How SVD (Singular Value Decomposition) method can compute the rotated bounding box (RBox)?

2024-12-11 15:19:38 365

原创 How to use evo to compute ATE and RPE for SLAM evaluation

andevo。

2024-11-14 15:58:34 851

原创 How to use ffmpeg to convert video format from .webm to .mp4

The container format doesn’t support the VP8 codec, which is commonly used in files. MP4 containers typically use the H.264 codec for video and AAC for audio.You’ll need to re-encode the video using the H.264 codec and re-encode the audio using AAC (or a

2024-11-06 15:54:15 706 1

原创 Basic bash script tutorial

【代码】Basic bash script tutorial。

2024-11-05 16:28:11 476

原创 How to convert the colmap output .bin file to readable .txt file?

The files produced by COLMAP, such as , , and , contain binary representations of the 3D reconstruction data. To convert these files into human-readable files, you can use COLMAP’s provided utility functions. The utility can convert these binary files i

2024-11-05 16:15:25 1036

原创 Perspective Projection Matrix of OpenGL and Direct3D

n[lr][bt]z−11]y[−11]z[−11]z[014x4r−l2n0000t−b2n00r−lrlt−btbn−ffn−100n−f2fn0−l2n−11−ln−lrl−b2n−11−btb−ffnnf−11]z[0。

2024-10-26 22:54:33 895

原创 How Spherical Harmonics (SH) used in 3D Gaussian Splatting

lmll12。

2024-10-25 16:57:35 1262

原创 Custom Autograd Functions in PyTorch

【代码】Custom Autograd Functions in PyTorch。

2024-10-18 14:07:55 1195

原创 [Notes] How rasterizer of 3dgs-deblur computing gradients

Let’s define some key variables first:For each pixel, let:For each pixel, the color I\mathbf{I}I is computed as the accumulation of the contributions from all Gaussians ggg affecting that pixel:I=∑gcg⋅αg⋅Tg+Tfinal⋅b\mathbf{I} = \sum_{g} \mathbf{c}_g \cdot

2024-10-17 16:15:34 916

原创 [Notes] Memory allocate of data buffer in 3DGS rasterizer

【代码】[Notes] Memory allocate of data buffer in 3DGS rasterizer。

2024-10-14 16:46:37 777

原创 [Notes] Rasterizer for 3dgs-deblur

【代码】[Notes] Rasterizer for 3dgs-deblur。

2024-10-10 19:57:53 752

原创 [Notes] How covariance matrix determind 3DGS and 2DGS

covand。

2024-10-08 19:36:26 1392 1

原创 [Notes] 3DGS Features Summary

ααi∈01]iCfinali1∑NαiCiji∏1−αj)CfinalCiiαi)μiμixiyizi)fxexp−21x−μi⊤Σ−1x−μi)xxyzi∈R34finalαiciwhere cii∈R3R4cicfinalciriiisxsys。

2024-10-08 17:57:18 1306

原创 [Notes] Computer Network - Layers and Protocols

【代码】[Notes] Computer Network - Layers and Protocols。

2024-10-04 21:28:28 1163

原创 [Notes] Computer Network - Overwiew

【代码】[Notes] Computer Network - Overwiew。

2024-10-04 21:26:49 1010

原创 Upload files from local Ubuntu PC to OneDrive using the terminal

rclone。

2024-09-23 20:05:15 704

原创 [Notes] MonoGS camera pose optimization

cw333333⋅g⋅Tr→0limrlogexpr⋅τ∘fT))−fT33cwccw:∂Tcw∂Σc∂μc∂Σc∂Tcw∂μc∂Wc∂Σc∂Tcw∂WcWhere:μcWc3Tcw∂μcccwTcw∂μcI。

2024-09-09 00:19:05 693

原创 Ubuntu中解決E: Sub-process /usr/bin/dpkg returned an error code (1)報錯｜Solve E: Sub-process /usr/bin/dpk

【代码】Ubuntu中解決E: Sub-process /usr/bin/dpkg returned an error code (1)報錯｜Solve E: Sub-process /usr/bin/dpk。

2024-08-03 22:11:34 239

原创 Instructions for CUDA v11.8 and cuDNN 8.7 installation on Ubuntu 22.04 for PyTorch 2.0.0

【代码】Instructions for CUDA v11.8 and cuDNN 8.7 installation on Ubuntu 22.04 for PyTorch 2.0.0。

2024-08-03 22:10:14 319

原创 Managing Users and Hostname on Ubuntu Server

【代码】Managing Users and Hostname on Ubuntu Server。

2024-08-02 17:08:04 954

原创 Ubuntu merge disks by Logical Volume Management (LVM)

【代码】Ubuntu merge disks。

2024-08-01 17:43:00 464

原创 Camera Matrix Computation and Resizing

【代码】Camera Matrix Computation and Resizing。

2024-07-28 23:30:00 1052

原创 Difference between std::shared_ptr and std::make_shared

and。

2024-07-10 15:27:08 1186 1

原创 ORB-SLAM3 mapping parts breakdown

【代码】ORB-SLAM3 mapping parts breakdown。

2024-07-10 15:03:50 618

原创 Explanation of camera calibration parameters

1213121xdydxuyuuxd1k1⋅r2k2⋅r4k3⋅r62⋅p1⋅xd⋅ydp2⋅r22⋅xd2)yuyd1k1⋅r2k2⋅r4k3⋅r6p1⋅r22⋅yd22⋅p2⋅xd⋅ydwhere r2xd2yd211≤k1≤。

2024-06-23 23:31:12 905

原创 Brief introduction of SIFT algorithm

xy)σLxyσGxyσ∗Ixy)Gxyσ2πσ21e−x2y2/2σ2DxyσLxykσ−Lxyσ−H−1∇Dwhere ( HDxyLx1y−Lx−1y2Lxy1−Lxy−12θxytan−1Lx1y−Lx−1yLxy1−Lxy−1。

2024-06-17 16:34:46 849

原创 using evo for visualization of SLAM trajectories

【代码】using evo for visualization of SLAM trajectories。

2024-06-03 14:48:50 1174

原创 Frequently used Docker commands on Ubuntu

【代码】Frequently used Docker commands on Ubuntu。

2024-06-03 05:48:42 983

原创 MultiScaleDeformableAttention ImportError: attempted relative import beyond top-level package

【代码】MultiScaleDeformableAttention ImportError: attempted relative import beyond top-level package。

2024-06-02 23:40:45 487

原创 Converting GPS coordinates (longitude and latitude) into a trajectory in meters

【代码】Converting GPS coordinates (longitude and latitude) into a trajectory in meters。

2024-05-31 16:17:53 418

原创 Creating a video from a series of frames (images) using Python

【代码】Creating a video from a series of frames (images) using Python。

2024-05-21 17:51:09 725

原创 Frequently used functions in the Python OpenCV

【代码】Frequently used functions in the Python OpenCV。

2024-05-15 22:31:07 402 1

原创 Metrics to evaluate the performance of SLAM

n1∑i1nyi−yi2Where:yiyin10⋅log10MSEMAXI2Where:MAXIMSExyμx2μy2c1σx2σy2c22μxμyc12σxyc2Where:μxμyσxσyσxyc1c2。

2024-05-15 20:23:38 660

原创 ImportError: Cannot load backend ‘TkAgg‘ which requires the ‘tk‘ interactive framework

【代码】ImportError: Cannot load backend ‘TkAgg‘ which requires the ‘tk‘ interactive framework。

2024-05-15 16:43:51 1229

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