Rico贾若童的博客

Posted by Rico's Nerd Cluster on April 16, 2024

Robotics - Gauss Newton (GN) and Levenberg Marquardt (LM) Optimizers

Newton's Method, GN, LM optimizers

Newton’s Method Solving An Equation To find an arbitrary equation’s root $f(x) = 0$, We start from an arbitrary point $x_0$ that’s hopefully close to the solution, $x_s$ The main idea of Ne...

Posted by Rico's Nerd Cluster on April 14, 2024

C++ - Filesystem

std::filesystem::create_directory(path) Thread safety: std::filesystem::create_directory(path); under the hood it issues a single POSIX mkdir() (or the platform equivalent). If the ...

Posted by Rico's Nerd Cluster on April 14, 2024

Robotics - [2D SLAM 2] Map Generation

Submap Generation

Submap Generation In modern robotics mapping systems, efficient environment representation and robust localization are achieved by dividing the map into smaller, manageable submaps. Each submap is...

Posted by Rico's Nerd Cluster on April 13, 2024

C++ - Segfaults

Out-of-bounds Iterator Access

Out-of-bounds Iterator Access Out-of-bounds iterator access is an undefined behavior, which might give a segfault, or give a garbage value. 1 2 3 4 5 6 7 8 9 10 11 12 #include <vector> #inc...

Posted by Rico's Nerd Cluster on April 12, 2024

Robotics - [2D SLAM 1] Introduction and Scan Matching

Point-Point ICP, Point-Line ICP

Introduction The assumption of a robot moving on a 2D plane is a strong one. However, many indoor robots do have support an assumption. Maps in this case can simply be interpreted as an image. Low...

Posted by Rico's Nerd Cluster on April 10, 2024

C++ - Move Semantics, Perfect Fowarding

Universal Reference, `std::move` with Emplace

Universal Reference And Perfect Forwarding Perfect forwarding in C++ preserves both the type and the value category of an input argument. Refresher - Value categories: lvalue rvalue ...

Posted by Rico's Nerd Cluster on April 10, 2024

Robotics - Point Cloud Processing and KNN Problem

Bruteforce KNN Search, KD Tree, OctoTree

Overview Here is a post about the LiDAR Working Principle and different types of LiDARs. One lidar model is the Range-Azimuth-Elevation model (RAE) Its ...

Posted by Rico's Nerd Cluster on April 7, 2024

C++ - Datastructures

Priority Queue

std::priority_queue (Priority Queue, or Max-Heap) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 #include <iostream> #include <...

Posted by Rico's Nerd Cluster on April 4, 2024

Point Cloud Library

Point Infrastructure Point Cloud Members PointCloud Type includes points: point vector PointTypes PointType include: pcl::PointXYZ pcl::PointXYZI pcl::PointXYZRGB pcl::PointXYZRGB...