无人驾驶
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实验室新电脑ubuntu16.04安装记录
Turn off secure boot mode foreverTurn on UEFIPress e when entering installing interface and then input quiet splash acpi=off acpi=on nomodesetAnd then press F10 to boot.How to disable the acpi = off foreversudo gedit /etc/default/grubChange line GRU原创 2021-07-26 06:46:28 · 128 阅读 · 0 评论 -
useful link for compiling segmap
https://www.cnblogs.com/chenlinchong/p/12576699.htmlhttps://blog.csdn.net/weixin_42606990/article/details/109738833https://github.com/ethz-asl/segmap/issues/154原创 2020-12-04 11:51:07 · 138 阅读 · 0 评论 -
SLAM in the era of deep learning
1. What is SLAM and why we need it?This article is part I of a series that explores the relationship between deep learning and SLAM. We first look at what SLAM is and how it works. This will later on allow us to have deeper insight into which parts of the原创 2020-09-05 05:38:37 · 526 阅读 · 0 评论 -
imu_tool 学习笔记
1.安装imu_tools创建catkin工作空间:mkdir -p ~/imu_tools_catkin_ws/src安装git:sudo apt-get install git-core下载仓库到catkin工作空间中:cd ~/imu_tools_catkin_ws/srcgit clone -b <distro> https://github.com/ccny...原创 2019-12-27 05:22:05 · 2166 阅读 · 3 评论 -
How to play sample bag of ouster?And how to set up network to record ouster bag?
cause the short of the learning material about ouster Lidar. Today i will record the learning material about how to operate the ouster Lidar how to record personal bag for SLAM.about the output of Li...原创 2019-12-11 22:42:52 · 1524 阅读 · 4 评论 -
ouster IMU
做无人驾驶做了好久了,最近老板给安排了一个新的平台,原来的激光雷达是Velodyne的激光雷达,垂直的分辨率是16beams,IMU输出点云以及点的坐标,也包括陀螺仪以及加速度计的角速度以及三个轴的加速度,但是我查看ouster 给的样包里面,数据只是包括了点云的原始信息,还有IMU的输出也只是陀螺仪以及加速度计的原始信息。但是原先实验室师兄的Package里面,包括利用IMU输出的位姿信息。 所...原创 2019-12-05 12:22:00 · 957 阅读 · 0 评论 -
数组与指针的理解
最近在改进师兄无人驾驶的package里面的功能,由于package里面的矩阵乘法比较多,而且大多用for循环实现,而且点的信息是挨个儿处理的,如果for循环的每一步执行需要依据上一部的结果,显然GPU和CPU处理起来是大差不大的,但是,在点云处理的过程中,一帧数据中,点与点是相互独立的,这种FOR循环是可以放到GPU上面运行的,当点的数量较少时,显然计算机的CPU是可以处理的,但当时域范围的点增...原创 2019-11-28 09:42:03 · 129 阅读 · 0 评论 -
CUDA编程实现一个矩阵乘法
最后我们再实现一个稍微复杂一些的例子,就是两个矩阵的乘法,设输入矩阵为A和B,要得到C=A*B。实现思路是每个线程计算C的一个元素值实现思路是每个线程计算 C的一个元素值Cij ,对于矩阵运算,应该选用grid和block为2-D的。首先定义矩阵的结构体:// 矩阵类型,行优先,M(row, col) = *(M.elements + row * M.width + col)struct Ma...原创 2019-11-27 06:00:43 · 1135 阅读 · 0 评论 -
如何使用一个cuda程序检查自己的电脑配置
如何用一个 cuda 程序检查自己的电脑的配置vim check.cu__global__ void outputAAAAA(){ printf("thread %d,%d output : AAAAA\n",threadIdx.x,threadIdx.y);}int main(){ int deviceCount; cudaGetDeviceCount(...原创 2019-11-27 00:54:05 · 334 阅读 · 0 评论 -
installment of NVIDIA on Ubuntu18.04
There are two sentence that i want to say at the first of this blog : the most effective method to avoid falling into pitfall when you prepare to do anything is try to refer the obstacles met by other...原创 2019-05-18 20:19:14 · 135 阅读 · 0 评论 -
The installment of CUDA on Ubuntu18.04
Download mateched CUDA pattern on official website.https://developer.nvidia.com/cuda-10.0-download-archive?target_os=Linux&target_arch=x86_64&target_distro=Ubuntu&target_version=1804&...原创 2019-05-20 16:55:12 · 102 阅读 · 0 评论