set http_proxy=http://xxx.xxx.xxx.xxx:xxxx
set https_proxy=http://xxx.xxx.xxx.xxx:xxxx
conda info --envs
conda create -n myenv python=3.6
conda remove -n myenv --all
conda activate myenv
conda deactivate myenv
nvcc -version
cat /usr/local/cuda/include/cudnn.h | grep CUDNN_MAJOR -A 2
sudo apt-get install flameshot
flameshot gui 安装应用后ubantu的截屏命令
kazam ubantu 录像
退出kazam:SUPER+CTRL+Q
切换显示和隐藏Kazam客户端:SUPER+CTRL+W
开始录制视频或者截图: SUPER+CTRL+R
结束录制视频: SUPER+CTRL+F
暂停/继续录制视频:SUPER+CTRL+P
ubantu 源文件的地址 /etc/apt/source.list
nvidia-smi
watch -n 2 -d nvidia-smi 实时刷新
tar -xjvf 文件名.tar.bz2 -C /usr/local
conda install --offline -n env_name XXXX..tar.bz2
tar -xzvf 12345.tar.gz
export LD_LIBRARY_PATH=/home/xxxx/anaconda3/lib:$LD_LIBRARY_PATH
$ source ./.bashrc
$ echo $LD_LIBRARY_PATH
--imgs_folder D:/data/dataset_room/dataset-room1_512_16 --start_idx 0 --end_idx -1 --stereo --gbapose --lbapose --mt --loop
挂载盘不能写入,不能创建文件夹的解决办法。
先卸载 umount /dev/sda2
然后执行 sudo ntfsfix /dev/sda2
接着重新挂载 sudo mount -o rw /dev/sda2 /media/xxxx/data
pycharm 中使用conda环境 https://blog.csdn.net/qq_44733744/article/details/106745965
软链接
ln -s ~/yzt/CLion-2022.1.3/clion-2022.1.3/bin/clion.sh ~/clion #注意,软连接一般用绝对路径
cloudcompare.CloudCompare
cloudcompare.ccView
//RemoveOutlierOfMapPointByReProjectionErrorKF();
简单计算描述子之间的距离
Mat descriptors1;
Mat descriptors2;
double dist_l2 = norm(descriptors1,descriptors2,NORM_L2); // l2 for surf,sift
double dist_ham = norm(descriptors1,descriptors2,NORM_HAMMING); // for ORB,BRIEF,etc
//int FLAGS_ft_len = 125; // The feature track length threshold when dropout kicks in
因为SVN目前不能通过AD域进行登录验证,现在取消使用AD域账户密码登录SVN的方式,除了登录密码调整,其余使用均和之前完全一样。登录SVN账户信息如下:
用户名:Knox ID
初始密码:1qaz@WSX
git 设置ssh key https://blog.csdn.net/so_geili/article/details/62041664
ubantu matplotlib 不显示图像的解决办法,在代码中加入
import matplotlib
matplotlib.use('TkAgg')
loopclousre indicator:
1、using the candidate KF with the best dow3 score
git clone fail: The unauthenticated git protocol on port 9418 is no longer supported
solution:
1、关掉代理,unset http_proxy,unset https_proxy, https://blog.csdn.net/weixin_41990671/article/details/106180870
2、该git clone https://XXX.git --> git clone http://XXX.git
cmake find_package 指定路径
https://blog.csdn.net/weixin_43742643/article/details/113858915
opencv ippicv 不能下载,去下面的路径下载,然后把下载路径改成本地的存储目录
https://github.com/opencv/opencv_3rdparty/tree/ippicv/master_20191018/ippicv
opencv 编译问题 Makefile:162: recipe for target 'all' failed
编译命令:
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_INSTALL_PREFIX=/usr/local -D WITH_TBB=ON -D BUILD_SHARED_LIBS=OFF -D WITH_OPENMP=ON -D ENABLE_PRECOMPILED_HEADERS=OFF ..
问题 /usr/lib/libvtkIO.so.5.10:对‘TIFFReadDirectory@LIBTIFF_4.0’未定义的引用
解决方法:https://blog.csdn.net/WILLIAMMMS/article/details/114382164
安装不成功,报readme.htm错误,解决办法https://answers.opencv.org/question/221827/a-installation-problem-of-opencvsolved/
opencv4.5.0 编译命令:
cmake -D CMAKE_BUILD_TYPE=RELEASE
-D CMAKE_INSTALL_PREFIX=/usr/local
-D OPENCV_GENERATE_PKGCONFIG=ON
-D INSTALL_PYTHON_EXAMPLES=ON
-D INSTALL_C_EXAMPLES=ON
-D OPENCV_EXTRA_MODULES_PATH= /home/cht/opencv4/opencv_contrib-4.0.1/modules
-D OPENCV_EXAMPLES=ON ..
如果extra编译不过可以把contrib下面的需要的moudle移动到主库的moudle下面。
ubantu
路径挂载:sshfs xxxx@109.105.32.47:/home/xxxx/data2 /home/nvidia/data_xxxx
SuperPoint on 2080 PC speed, image num: 2287, total time 12977ms, 176 frames/s
//#pragma optimize("",off)
//#pragma optimize("",on)
python evaluate_ate.py T265_robot_HQ/V3_04_Level5_loop_walk_pose_gba_eval_est.txt D:\\data\\20220107_ARDK_dataset\\SR_DB_3rd_EuRoC_form\\2022_0304_new_GT\\V3_04_Level5_loop_walk_pose_gba_eval_gt.txt >> T265_robot_HQ/xxx_0708.txt
git push 错误问题
git push -f --set-upstream origin person/lhl/fix_strart_crash_bug
ref person/lhl/fix_strart_crash_bug:: open
$ git index-pack D:\\code\\clean_online_VIPose\\VIpose\\.git\\objects\\pack\\pack-5e86f78f2b4902b492a9a47945bda26be286cb29.pack
5e86f78f2b4902b492a9a47945bda26be286cb29
orbslam 编译问题 https://github.com/UZ-SLAMLab/ORB_SLAM3/issues/458
sed -i 's/++11/++14/g' CMakeLists.txt
把excel 设置成小方格 https://www.jb51.net/office/excel/607127.html?pc
查看文件夹空间大小: https://blog.csdn.net/m0_46825740/article/details/122404768
ubuntu重启桌面:https://www.cnblogs.com/wpjamer/articles/9948129.html , 出现 乱码后输入密码
1、在alt+ctrl+f1~F6中重启gdm服务:
sudo /etc/init.d/gdm restart
或
sudo /etc/init.d/gdm stop
sudo /etc/init.d/gdm start
使用Shift + F6批量修改变量名(clion 中应用)
合并commit: https://www.cnblogs.com/FengZeng666/p/15394686.html
查找vnc并卸载的命令
sudo find / -name *vnc*
sudo apt autoremove xxx
visual studio profiler 显示的是内存和未共享的总虚拟内存
windows 下进程内存和cpu占用的查看方式是 打开资源监视器的方法:打开任务管理器 –>选择性能 –> 这页的左下角有打开资源监视器选项
https://blog.csdn.net/xiaotao_1/article/details/78820105
windows 查看 配置命令 windows + R , 输入 certmgr.msc
ubantu 查看方式, 右上角, 扳手标志,关于
解决sobel算子,imshow显示梯度和存储成图像显示效果不一样的问题。
GetLogGradients(img, I_x, I_y);
double min = 0, max = 0;
cv::minMaxLoc(I_x, &min, &max, 0, 0);
I_x = (I_x - 0) * 255.0 / (max - 0);
cv::minMaxLoc(I_y, &min, &max, 0, 0);
I_y = (I_y - 0) * 255.0 / (max - 0);
I_x.convertTo(I_x, CV_8U);
I_y.convertTo(I_y, CV_8U);
“source FileName 作用:在当前bash环境下读取并执行FileName中的命令
可视化 C++工程 https://www.bilibili.com/read/cv17793094
vscode 自动换行 alter+z
显示vipose 轨迹python evaluate_ate.py tum_room/dataset-room4_512_16_pose_lba_eval_gt.txt tum_room/dataset-room4_512_16_pose_lba_eval_est.txt --plot 1.jpg
python evaluate_ate.py DAVIS/boxes_6dof_lba_eval_gt.txt DAVIS/boxes_6dof_lba_eval_est.txt --plot 1.jpg
https://blog.csdn.net/gbz3300255/article/details/103364072
V3_021_Level4_linear_walk_lba_eval_est.txt
板子上的评测工具:
/home/nvidia/Documents/xiongfeng/20220414_KPI_Code_toSRCB/KPI_Calculation-master/scripts/
ubantu 搜索文件 find . -iname analyze_trajectory_single.py
https://blog.csdn.net/qxqxqzzz/article/details/107835438
python process_for_kpi.py --first_file dataset/Level2_stand/lba_eval_gt.txt --second_file dataset/Level2_stand/lba_eval_est.txt --first_out dataset/Level2_stand/aligned_GT_device_pose_VIPose_VO_230202.csv --second_out dataset/Level2_stand/aligned_EST_device_pose_VIPose_VO_230202.csv
python 库下载网址: https://www.lfd.uci.edu/~gohlke/pythonlibs/
matplotlib 不能正常显示,首先重装,然后参考如下链接:https://zhuanlan.zhihu.com/p/136002512
--imgs_folder D:/data/EuRoC/MH_05_difficult --start_idx 0 --end_idx -1 --iba_param_path ../config/config_of_stereo.txt --gba_camera_save_path ../Experiment/euroc/MH_05_pose.txt --gba_point_save_path ../Experiment/euroc/MH_05_point.txt --stereo
sudo chmod -R 777 file
pycharm 配置文件说明:当使用pycharm打开一大坨.py的时候,经常会出现“ImportError: No module named”的问题,比如执行文件要用到from hand_eye_calibration.dual_quaternion import DualQuaternion,dual_quaternion类在文件夹hand_eye_calibration的下面,那么pycharm的具体使用方式是,file-->open指定到hand_eye_calibration文件夹的上一层目录。
export PATH=$PATH:./
--imgs_folder D:/data/EuRoC/V2_01_easy --start_idx 0 --end_idx -1 --iba_param_path ../config/config_of_stereo.txt --gba_camera_save_path ../Experiment/euroc/V2_01_pose.txt --gba_point_save_path ../Experiment/euroc/V2_01_point.txt --stereo --lcd ON --FReID OFF
python evaluate_ate.py VIODE/V2_01_pose_gba_eval_gt.txt VIODE/V2_01_pose_gba_eval_est.txt --plot 1.jpg
python evaluate_ate.py data_caliBoard_round2_gba_eval_gt.txt data_caliBoard_round2_gba_eval_est.txt --plot 1.jpg
使用Clion调试ROS workspace里面的程序:1. Clion打开到../catkin_ws2/src 目录,2. File-->Setting-->Build,Execution,Deployment-->CMake:
In CMake options, add -DCATKIN_DEVEL_PREFIX:PATH=/home/ros/catkin_ws/devel, -DCATKIN_BUILD_PREFIX:PATH=/home/ros/catkin_ws/Build
Build directory: /home/ros/catkin_ws/Build
Run-->Edit Configuration --> Environment variables:
CMAKE_PREFIX_PATH 添加:/home/ros/catkin_ws/devel
LD_LIBRARY_PATH 添加:/home/ros/catkin_ws/devel/lib
PKG_CONFIG_PATH: 添加: /home/ros/catkin_ws/devel/lib/pkgconfig
PYTHONPATH: 添加:/home/ros/catkin_ws/devel/lib/python2
--FReID OFF --outliers ON
python evaluate_ate.py d:\\code\\VIpose\\Experiment\\yubao\\Q865\\V3_021\\Level5_loop_walk_pose_lba_eval_est.txt d:\\code\\VIpose\\Experiment\\yubao\\Q865\\V3_021\\Level5_loop_walk_pose_lba_eval_gt.txt
公式转图片: https://www.latexlive.com/
“{”: 缺少函数标题(是否是老式的形式表?): 解决方法把代码剪切到txt,然后再剪切回来,问题解决。
--FReID OFF --outliers OFF
#EuRoC_PATH=D:/DataCollection_EuRoC
EuRoC_PATH=D:/data/EuRoC
#RelOrDebVersion=RelWithDebInfo
RelOrDebVersion=Release
mkdir ../Experiment/euroc
今天使用 clion 编译 vins-fusion, 提示ceres库链接不上,查找原因发现虽然找到了头文件,但是没有找到库文件。解决办法:Run-->Edit Configuration --> Environment variables: path下面加入: /usr/local/lib
locate CeresConfig.cmake 找到安装的位置,可以查看定义的一些环境变量
同理:OpenCVConfig.cmake
--imgs_folder D:/data/EuRoC/MH_01_easy --start_idx 400 --end_idx -1 --iba_param_path ../config/config_of_stereo.txt --gba_camera_save_path ../Experiment/euroc/MH_01_pose.txt --gba_point_save_path ../Experiment/euroc/MH_01_point.txt --stereo --FReID OFF --outliers OFF
需要安装adb, 安装方法:https://unix.stackexchange.com/questions/378041/how-to-install-adb-on-ubuntu-from-download
Linux adb使用及no permissions
bug解决方法:https://blog.csdn.net/binglumeng/article/details/69525361
运行run后,会生成很多很多图像,暗q+回车退出。最后会输出存储的目录。
从数据下载下来的命令为:adb pull /sdcard/20230717_174116
删除命令:adb shell rm -rf /sdcard/20230717_174116
切换分支后,编译时一定要清理一下,否则可能跑的还是前面的程序
VIODE_PATH=D:/data/VIODE/parking_lot
RelOrDebVersion=Release
git reset --hard HEAD 抛弃本地的修改
locate CeresConfig.cmake 可以定义到ceres库安装的目录,当系统中存在两个版本的ceres的时候cmake可能会找错版本,可以先删除该版本,然后再安装其他对应的版本。
如何搞定Ceres多版本安装的问题 参考链接:https://blog.csdn.net/weixin_40324045/article/details/131960018
注意的要点:1. 编译完成后,如果不安装并不产生CeresConfig.cmake 文件, 工程的CMakelist直接指定到编译目录并不会起作用。
2. 如果安装两个Ceres版本会产生的覆盖的问题,解决办法是指定安装路径,方法是 cmake -D CMAKE_INSTALL_PREFIX="/usr/local/Ceres-2.1.0" ..
或 cmake -D CMAKE_INSTALL_PREFIX="/usr/local/Ceres-1.14" ..
3. 在自己工程的CMakeList 里面定义变量 Ceres_DIR 变量, 办法是 set(Ceres_DIR “/usr/local/Ceres-2.1.0/lib/cmake/Ceres”)
注意目录一定要写到位,Ceres_DIR 注意大小写。定义了 库名_DIR 变量后,在find_package 的时候优先在Ceres_DIR 目录下查找。
4. 这样做的确定是需要改变cmakelist.txt 文件,为commit操作带来一定的风险。解决的办法是不在CMakelist.txt 里面添加set(Ceres_DIR “/usr/local/Ceres-2.1.0/lib/cmake/Ceres”),
而是在编译的时候使用如下命令 cmake .. -DCeres_DIR=“/usr/local/Ceres-2.1.0/lib/cmake/Ceres”
至此:解决CMake指定package版本文件的问题完全解决。
CMakeLists里面的option的问题:
设置option(BUILD_DUMMY_DATA_SIMULATOR "Online Simulator for XR" OFF),设置了BUILD_DUMMY_DATA_SIMULATOR 开关,默认的值为OFF
不改变cmakelist文件,在外部设置值得方法为:
Cmake .. -DBUILD_DUMMY_DATA_SIMULATOR=ON
ubantu 下Eigen和C++ auto自动类型推导结合在一起引发的bug:
Eigen::Vector2f measure(x,y);
auto err = measure - Eigen::Vector2f(x2,y2); //err 是一个错误的值
Eigen::Vector2f measure(x,y);
Eigen::Vector2f measure2(x2,y2);
auto err = measure - measure2; //err 是一个正确的值
Eigen::Vector2f measure(x,y);
Eigen::Vector2f err = measure - Eigen::Vector2f(x2,y2); //err 是一个正确的值
以上三种情况在window下都是正确的,ubantu下面有一个错误的,挺诡异,解释不了。
因此,使用Eigen时,尽量笔名使用auto来推导类型,Eigen里面有bug。
git cherry-pick abc123
https://blog.csdn.net/jam_yin/article/details/131594716
修改ubantu的环境变量
[Liu Zhihua] 2023-12-29 16:09
adb reboot -p 关机
启动slam前开启的命令:
adb root
adb remount
adb shell start txrservice
adb shell setenforce 0
clion 调试跳转困难问题
https://blog.csdn.net/m0_58032574/article/details/134612573
PPT:更改右下角页码, https://zhidao.baidu.com/question/884291521746993412.html
远程copy scp -r /home/user/files username@ip:/var/www/
scp -r /home/xf.peng/dataset/ETH3D/training/einstein_dark samsuntaset/dataset/ETH3D/
https://ras.papercept.net/conferences/scripts/start.pl
https://ras.papercept.net/conferences/scripts/optin.pl
更换代理后 apt-get 源的处理方法:
1. 更改apt代理 https://zhuanlan.zhihu.com/p/629584549
2. 更改环境代理 - Proxy设置命令
export http_proxy=http://109.105.230.22:9090
export https_proxy=http://109.105.230.22:9090
3. 更改源 https://developer.aliyun.com/article/704603
cat /etc/apt/apt.conf.d/proxy.conf
Acquire::http::Proxy "http://109.105.230.22:9090";
Acquire::https::Proxy "http://109.105.230.22:9090";
libvtkIOImage-6.3.so.6. 对‘TIFFReadDirectory@LIBTIFF_4.0’未定义的引用
bug解决方法:
https://blog.51cto.com/u_15764210/5979242
编译cuda版本opencv:
cmake -D CMAKE_BUILD_TYPE=RELEASE -D CMAKE_C_COMPILER=/usr/bin/gcc -D CMAKE_INSTALL_PREFIX=/usr/local -D OPENCV_EXTRA_MODULES_PATH=../opencv_contrib-4.5.0/modules/ -D CUDA_CUDA_LIBRARY=/usr/lib/x86_64-linux-gnu/libcuda.so -D CUDA_ARCH_BIN=7.5 -D CUDA_ARCH_PTX="" -D WITH_CUDA=ON -D WITH_TBB=ON -D WITH_FFMPEG=ON -D BUILD_PYTHON_SUPPORT=ON -D BUILD_NEW_PYTHON_SUPPORT=ON -D BUILD_OPENCV_PYTHON3=ON -D WITH_V4L=ON -D INSTALL_C_EXAMPLES=ON -D INSTALL_PYTHON_EXAMPLES=ON -D BUILD_EXAMPLES=ON -D WITH_QT=ON -D WITH_GSTREAMER=ON -D WITH_OPENGL=ON -D ENABLE_FAST_MATH=1 -D CUDA_FAST_MATH=1 -D OPENCV_GENERATE_PKGCONFIG=ON -D OPENCV_PC_FILE_NAME=opencv.pc -D CUDA_TOOLKIT_ROOT_DIR=/usr/local/cuda -D CMAKE_LIBRARY_PATH=/usr/local/cuda/lib64/stubs -D WITH_CUBLAS=ON -D WITH_NVCUVID=ON -D BUILD_opencv_cudacodec=ON -D OPENCV_DNN_CUDA=ON -D WITH_CUDNN=ON -D OPENCV_ENABLE_NONFREE=ON -D WITH_GSTREAMER=ON -D BUILD_EXAMPLES=ON -D WITH_VTK=OFF -D BUILD_TIFF=ON -D Ceres_DIR=/usr/local/Ceres-1.14/lib/cmake/Ceres ..
解压:tar zxvf pythontab.tar.gz
tar -zxvf httpd-2.4.4.tar.bz2
tar -xf archive.tar.xz
https://www.cnblogs.com/smiler/p/6474798.html
3D-GS 中 SSIM 结构相似性 表达 https://cloud.tencent.com/developer/article/1934140