Programmer Think

1.Tracking framework Flow chart of Tracking thread: Main functions corresponding to each process (from wubo @ bubble robot): Overall flow chart of Tracking   The picture above shows tracking CC speaks very clearly. After the tracking thread obtains the image data, it will pass it to the function GrabImageStereo, GrabImageRGBD or ...

There are multiple radar function packages under the lidar folder. It also includes a udev rule conversion script. The radar uses cp2102usb to serial port chip. Multiple devices are connected to the host through usb, so it is difficult to distinguish the devices corresponding to each port name. Set rules for the chip of USB to serial por ...

Edgeslam environment installation configuration Since the tutorials and records of environment installation and configuration cannot be found in edgeslam's environment at present, we can only grope a little bit here. In order to ensure that the software version does not conflict directly, this paper completely follows the environment version ...

loam source address: https://github.com/cuitaixiang/LOAM_NOTED. Thesis study: Loam: Lidar odometry and mapping in real time. Analysis and summary of loam source code: loam source code analysis 1: scanRegistration (I). loam source code analysis 2: scanRegistration (II). loam source code analysis 3: laserOdometry (I). loam source cod ...

Cartogragper source code reading In the future, we will study and record the source code of Cartogragper 1, Knowledge reserve 1.gflag Gflags concise tutorial GFlags usage document GFlags is an open source library for command line parameter processing, including C + + version and python version. Unlike libraries such as getopt(), the ...

1. Particles stay SLAM GMapping (4) SLAM processor Each particle updated by particle filter independently records a possible robot trajectory and environment map In order to improve efficiency, GMapping designs a data structure of trajectory tree The trajectory of the robot can be obtained by tracing from the leaf node to the root node ...

preface Through the introduction in the previous section, we can calculate the camera motion, but we don't know the specific position of feature points in space. In monocular SLAM, we cannot obtain the depth information of pixels only by relying on a single image. We need to estimate the depth of map points by triangulation. Triangulation Tr ...

The first tone is to write so much. The second tone is to sort out some contents of global optimization, but it is estimated that it will take some time. This record is purely personal understanding. If there is any difference, welcome to discuss ~ as for the part of using optical flow for dynamic object tracking in the paper, I am not sure whe ...

R3live is the relevant achievement of the MARS experiment of the University of Hong Kong on Livox radar. It was opened to the public on December 31, 2021. Its main goal is to make a multi-sensor fusion scheme with Livox radar as the core. The following is the personal environment configuration and simple operation record under Ubuntu system. T ...

0. Preface After understanding the principle and process of SLAM, individuals often wonder how to design and write a set of SLAM framework that can meet our needs from scratch. The author believes that Ceres, Eigen, Sophus and G2O function libraries cannot be avoided, especially Ceres function libraries are widely used in the optimization of l ...