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RSS订阅原创 hvx intrinsic reading
.b for signed byte .ub for unsigned byte, .h for signed halfword .uh for unsigned halfword .w for signed word .uw for unsigned wordmultiply add is weighted sum
2022-02-18 15:09:02
185
原创 四元数求导的技巧
always doing sth. e.g.∂p×R∂p==−∂R×p∂p\frac{\partial p\times R}{\partial p}=\\=-\frac{\partial R\times p}{\partial p}∂p∂p×R==−∂p∂R×p
2022-02-10 17:02:28
751
原创 MSCKF的理解(3.3状态扩增)
根据3.3的说法，也即是公式（14），相机的pose是IMU的pose而来。相机和IMU之间的外参是固定的，所以这两者知道一个就知道另一个了。所谓的状态扩增就是增加一个相机的位姿，新增加的相机位姿啥都不知道？要根据IMU的位姿来计算（因为IMU是实时更新的？）。q=q⊗qq=q\otimes qq=q⊗qp=qp+pp = qp+pp=qp+p所谓的协方差按照狄拉克记号就是 P=∣X><X∣P=|X><X|P=∣X><X∣,当|X>变成|X,x>的时
2022-01-25 17:27:26
2516
原创 MSCKF的理解之附录再议(即特征点三角化)
关于特征点三角化原文中一点不讲良心，这篇文章非常良心https://zhuanlan.zhihu.com/p/1036943741.点到射线距离平方和最优的方法每个相机的射线方程(3D)：x^=tCiw+kCiwRn^\hat{x}=t^w_{C_i}+k^w_{C_i}R\hat{n}x^=tCiw+kCiwRn^其中n^=(u,v,1)/(u2+v2+1)\hat{n}=(u,v,1)/\sqrt{(u^2+v^2+1)}n^=(u,v,1)/(u2+v2+1)是该相机坐标系(CiC
2022-01-25 15:34:30
1267
原创 MSCKF的理解(3.4之(17)-(24))以及附录
从世界坐标系看到的点的坐标（X,Y,Z）和相机看到的点（u,v）之间的关系（假设内参cx,cyc_x,c_ycx,cy都是0）[uv1]=1Z[fx,0,cx0,fy,cy0,0,1][XYZ]=1ZKP\begin{bmatrix}u\\v\\1\end{bmatrix}=\frac{1}{Z}\begin{bmatrix}f_x,0,c_x\\0,f_y,c_y\\0,0,1\end{bmatrix}\begin{bmatrix}X \\Y\\Z\end{bmatrix}=\frac{1}{Z}
2022-01-24 17:23:21
116
原创 Kalman滤波的理解
神来之笔x⊕=x⊖+K(z−Hx)x^{\oplus}=x^{\ominus}+K(z-Hx)x⊕=x⊖+K(z−Hx)有了这个之后，其余的都是基于这个来发展的。首先, K是基于观测矩阵 HHH和先验协方差 P⊖P^{\ominus}P⊖ 的K=K(H,P⊖)K=K(H,P^{\ominus})K=K(H,P⊖)可以考察后验协方差 [公式]来确定 [公式] 的数值[公式]对后验做K的求导便得到了K系数...
2022-01-18 14:48:09
527
原创 从Schrödinger方程和Heisenberg方程的等价性看Kalman滤波器和Gauss-Newton的等价性
Schrodinger equation:Heisenberg equation:Kalman Filter:
2022-01-17 19:31:22
512
原创 SVD分解
首先SVD针对的是性质没有那么好的矩阵，既不是方阵，又是奇异的，普通的分解，比如LU分解会失效。对于非方阵本身也没有什么特别好的性质和说法，但是SVD还是做到了应该做的。Am×nA_{m{\times}n}Am×n (m>n)最终分解到了一个Λ\LambdaΛ矩阵：Am×n=UΛn×nVA_{m{\times}n}=U{\Lambda}_{n\times n}VAm×n=UΛn×nV, 其中 Um×nU_{m{\times}n}Um×n, Vn×nV_{n{\times}n}Vn×n,
2022-01-11 15:42:02
220
原创 VINS的理解(VI-)
公式(22)的rp=(pb0−p^b0,qb0−q^b0,vb0−v^b0,bab0−b^ab0,bgb0−b^gb0,...,bgbn−b^gbn)′r_p=(p_{b_0}-\hat{p}_{b_0},q_{b_0}-\hat{q}_{b_0},v_{b_0}-\hat{v}_{b_0},b_{a_{b_0}}-\hat{b}_{a_{b_0}},b_{g_{b_0}}-\hat{b}_{g_{b_0}},...,b_{g_{b_n}}-\hat{b}_{g_{b_n}})'rp=(pb0−p^
2022-01-10 11:25:30
148
原创 VINS的理解(I-V)
公式（10）还能大概推测一下，z˙=Fz+Gn\dot{z}=Fz+Gnz˙=Fz+Gn则δz=(Fz+Gn)δt\delta{z}=(Fz+Gn)\delta{t}δz=(Fz+Gn)δt则<(z+δz)(z+δz)′>=<zz′>+<zδz′>+<δzz′>+<δzδz′><(z+\delta{z})(z+\delta{z})'> =<zz'>+<z\delta{z}'>+<\delta{z}
2022-01-06 11:58:44
70
原创 mfpu meaning?
float process unit = fpu .ABI(Application BinaryInterface), EABI(Embeded application Binary Interface)，即编译器将C代码编译成汇编代码时使用的一种规则。一般包括C类型的表示（int, short,long, union…）调用约定，包括如何传递参数和返回值；使用寄存器和堆栈。-march=armv7arm架构...
2021-12-09 16:52:24
109
原创 jdk bashrc setting
@ ~/.bashrc#set oracle jdk environmentexport JAVA_HOME=/usr/lib/jvm/jdk-18 ## 这里要注意目录要换成自己解压的jdk 目录export JRE_HOME=${JAVA_HOME}/jre export CLASSPATH=.:${JAVA_HOME}/lib:${JRE_HOME}/lib export PATH=${JAVA_HOME}/bin:$PATH ...
2021-12-02 17:44:19
63
原创 big trap in “cv::imread()“
big trap in “cv::Mat src=cv::imread(“xxx”, cv::IMREAD_GRAYSCALE)”if the last stuff not here, then big error for gray image reading, src will have “rgb rgb” buffer, then it is completely not what you want!
2021-11-26 16:52:48
1628
原创 build applying opencv both on ubuntu and windows
pkg-config opencv --modversion is not OKpkg-config opencv4 --modversion is OK
2021-11-16 20:13:13
1887
原创 gcc version caused problem---＞＞＞The CXX compiler identification is unknown
-- CMAKE_SYSTEM_NAME: **-- The CXX compiler identification is unknown**-- The C compiler identification is GNU 9.3.0CMake Error at CMakeLists.txt:39 (project): No CMAKE_CXX_COMPILER could be found. Tell CMake where to find the compiler by setti
2021-11-16 10:53:35
977
原创 Ubuntu下切换GCC版本, main slave problem
ls /usr/bin/gcc* -llrwxrwxrwx 1 root root 21 6月 2 09:38 /usr/bin/gcc -> /etc/alternatives/gcclrwxrwxrwx 1 root root 23 5月 29 15:49 /usr/bin/gcc-10 -> x86_64-linux-gnu-gcc-10lrwxrwxrwx 1 root root 22 4月 2 2020 /usr/bin/gcc-8 -> x86_64-linu
2021-11-16 10:38:58
1236
原创 CANNOT LINK EXECUTABLE “system/bin/run_canny“: cannot locate symbol “cornerApp_Pyramid_OpticalFlow“
CANNOT LINK EXECUTABLE "system/bin/run_canny": cannot locate symbol "cornerApp_Pyramid_OpticalFlow" referenced by "/system/lib64/libsctrl.so"make sure which lib do func “cornerApp_Pyramid_OpticalFlow” exits?make sure that lib is in device as well!her
2021-11-11 10:02:09
349
原创 Relocations in generic ELF (EM: 164)
Relocations in generic ELF (EM: 164)
2021-11-03 10:13:15
130
原创 dspCV_deinitQ6() error analysis
libconv3x3a16_v60_skel.so: 1 file pushed. 2.8 MB/s (16816 bytes in 0.006s)libconv3x3a16_v60_skel.so: 1 file pushed. 3.2 MB/s (16816 bytes in 0.005s)return value from dspCV_initQ6() : 0 gamma - allocated 307200src - allocated 307200dst - allocated 3072
2021-07-07 18:02:57
143
原创 optimal
1, gradient: Δ\DeltaΔx = -λ\lambdaλJ2,Gaussian-Newton: Δ\DeltaΔx =(JTJ)−1JTZ(J^{T}J)^{-1}J^{T}Z(JTJ)−1JTZ3,Newton: Δ\DeltaΔx=-H−1H^{-1}H−1J4,L-M…
2021-07-05 16:28:16
52
原创 fricking out strange bug:
AEEResultgiven_rotation_quadratic(remote_handle64 h, int row, int col, int row_stop, int col_stop, int count, boolean* bflag, int flagLen, const float *pSrc, int srcLen, float *pSrcq, int resLen, int align)this interface outside
2021-06-17 15:11:47
58
原创 since FARF, so 100us more|
1,since FARF, so 100us more2, install gcc-10,g+±10, then g2o make successhttps://stackoverflow.com/questions/64493692/cc1plus-error-bad-value-tigerlake-for-march-switch-compilation-errorYou can update gcc&g++ to a higher version(10):sudo apt insta
2021-06-02 09:57:53
68
原创 ION buf
file:///home/chenmq/Qualcomm/Hexagon_SDK/3.5.2/docs/APIs_FastRPC.html#Using%20the%20ION%20allocatorThe DSP hardware is not well suited for handling dis-contiguous memory, which is commonly the kind of memory users get from a simple “malloc” call. Android
2021-05-26 09:50:51
85
转载 ubuntu CN input
https://blog.csdn.net/a805607966/article/details/105874756
2021-05-19 15:38:14
36
原创 foxit reader for ubuntu, notepad++,
https://www.foxitsoftware.cn/pdf-reader/
2021-05-18 15:51:23
57
原创 install hexagion SDK
Configuring the installer for this system's environment...No Java virtual machine could be found from your PATHenvironment variable. You must install a VM prior torunning this program.chenmq@chenmq-GP65-Leopard-10SDK:~/develope/hexagon_sdk_lnx_3_5_in
2021-05-17 10:32:53
338
1
原创 取别称
#set android-studio aliasalias studio=’/home/chenmq1990/develope/android/android-studio-ide-201.7199119-linux/android-studio/bin/./studio.sh’alias clion=’/home/chenmq1990/develope/clion/CLion-2021.1/clion-2021.1/bin/./clion.sh’
2021-05-14 14:10:20
74
YYT0829-2011正电子发射及X射线计算机断层成像系统性能和试验方法
2018-06-15
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