random_liu_2013

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使用ceres solver的自动微分计算雅克比矩阵

win10 c++ usb hid

#pragma once#include <mutex>#include <condition_variable>#include <chrono>class CEvtVar { std::mutex m_mtex; bool m_flag; std::condition_variable m_condvar;public: CEvtVar(); ~CEvtVar(); int wait(int ms); ...

一.gps数据存储在文本中，如下所示：每一行一个数据，数据使用逗号隔开，第一个为时间，第二个为经度，第三个维度，第四个为高度2.使用tinyxml2将文件转换为标准的gpx格式文件，转换之后的结果如下：代码如下：#include "../tinyxml2.h"#include <fstream>#include <string>;#include <vector>struct GPS_DATA { std::string.

一、用matlab设计巴特沃茨滤波器%1 低通fd = 10;%hz 截止频率fs = 167;%hz 采样频率wn = fd/(0.5*fs);%butter 第一个参数为阶数，下面使用的是一阶[a b]= butter(1,wn,'low')%2 高通fd = 10;%hz截止频率fs = 167;%hz采样频率wn = fd/(0.5*fs);[c d]= butter(1,wn,'high')%小测试t = 0:1/fs:1;x = cos(2*...

#include <ceres/ceres.h>#include <ceres/jet.h>#include <Eigen/Eigen>struct costFunc { template <typename T> bool operator()(const T* const x, T* residuals) const { residuals[0] = T(3)* x[0]*x[0] + x[0]*T(5) ...

//#include "sparselevmarq.h"#include <iostream>#include <cstdio>int main(int argc, char **argv){ if (1) { auto printA = [](int a[4][4]) { for (int i = 0; i < 4; ++i) { for (int j = 0; j < 4; ++...

#pragma once#include <Eigen/Eigen>typedef unsigned char uchar;#include <opencv2/opencv.hpp>class SubPixCenter{ int m_iN = -1; Eigen::VectorXf m_Vector_A; Eigen::MatrixXf m_matrix_B; bool InitData(cv::Mat& roi, const d...

#include <opencv2/opencv.hpp>#include <iostream>float anchor[] = { 0.469385, 0.710431,0.920628, 1.367715,1.274924, 1.906141,1.845246, 2.771376,2.994701, 4.442390 };int N_anchors =...

clear;clc;%rng(100);addpath(genpath(pwd));load_param;global params;dt = params.dt;[imudata,visdata] = vio_data_gen();l_imu = length(imudata);eskf.q = [1;0;0;0];eskf.bg=[0;0;0];eskf.g=[0;0;9...

#ifndef RING_BUFFER_H#define RING_BUFFER_H#include <mutex>template<typename T, int N>class RingBuf{public: RingBuf(); ~RingBuf(); bool get(T& a); bool put(T a...

clear;clc;x1 = [100,0,0];x2 = [45, 75,0];x3 = [45,-75,0];x4 = [0,0,50];th = 5;data=[];Ns=1000;for i=1:Ns l23 = norm(x3-x2)+th*(2*rand-1); l12 = norm(x1-x2)+th*(2*rand-1); l13 = no...

#pragma once#include <g2o/core/sparse_optimizer.h>#include <g2o/types/slam3d/types_slam3d.h>#include <Eigen/eigen>#include "KeyFrame.h";#include "MapPoint.h"#include "Measureme...

template<typename T,int N>class RingBuf{public: RingBuf() : capSize(N){ first = last = 0; size = 0; } ~RingBuf() { } bool get(T& a) { if (is...

#pragma once#include <iostream>#include <utility>#include <vector>typedef struct { int v1,v2; int w;}EdgeEx;int shortest_path(const std::vector< EdgeEx>& ed...

/*此页的程序来自《程序员面试宝典（第三版）》*/#include using namespace std;const int N=10;int store[N]={0};int sum=0;void output(){for(int i=0;i{cout}cout++sum;}void cumput(int sc

由于最近做一些手势识别方面的项目，所以在网上找了很多这方面的材料；           发现用adaboost+haar可以检测好几种手势；相对于用肤色来检测手，级联分类器的方法效果相当的好，而且检测速度也很快。          #include "opencv2\opencv.hpp"using namespace cv;void detectAndShow(Cas

http://www.docin.com/p-1244268274.html#pragma once#include #if 0/*float q0, q1, q2, q3;float exInt, eyInt, ezInt;float Kp, Ki;float halfT;float sampleFreq;*//* Pr

子函数，删除空格等    std::string&amp; trim(std::string &amp;s){    if (s.empty())    {        return s;    }    s.erase(0, s.find_first_not_of(" "));    s.erase(s.find_last_not_of(" ") + 1);    ret...

#include "wx/wx.h"#include "ContextFrm.h"#include <iostream>class App :public wxApp {public: int argc; char** argv; App(int _argc, char** _argv):argc(_argc), argv(_argv) {...

g++ 编译调用opencv函数的c++程序时， 可以使用如下 makefilemainapp: main.o g++ -o mainapp main.o -lopencv_core -lopencv_highguimain.o: main.cpp g++ -c main.cppclean: rm -rf main main.o...

/*** (c) Daniel Lemire, 2008*This C++ library implements fast nearest-neighbor retrieval under the dynamic time warping (DTW).* This library includes the dynamic programming solution, a fast imple...

#include "dtw.h"// this just generates some random arrayvector<double> getrandomwalk(uint size) { vector<double> data(size); data[0] = 0.0; for (uint k = 1; k < size; ++...

#ifndef STDEX_COROUTINE_H_#define STDEX_COROUTINE_H_#ifndef STACK_LIMIT#define STACK_LIMIT (1024*1024)#endif#include <cstdint>#include <cstring>#include <cstdio>#include &l...