https://cjtong.space/Recent content on CJ.Tong BlogHugo -- gohugo.iozh-CNWed, 02 Apr 2025 14:22:02 +0800https://cjtong.space/post/slam/fast-livo2/Wed, 02 Apr 2025 14:22:02 +0800https://cjtong.space/post/slam/fast-livo2/介绍 FAST-LIVO2是一种高效精准的激光雷达-惯性-视觉多源融合定位与建图系统，在严重退化环境中展现出实时三维重建与机载机器人定位的显著https://cjtong.space/post/slam/direct_visual_lidar_calib/Sat, 29 Mar 2025 18:33:24 +0800https://cjtong.space/post/slam/direct_visual_lidar_calib/系统环境 ubuntu2004 ros noetic 依赖 ROS1/ROS2 PCL OpenCV GTSAM 优化库 Ceres 优化库 Iridescence 图形化显示 SuperGlue [optional] 安装 Install dependencies sudo apt install libomp-dev libboost-all-dev libglm-dev libglfw3-dev libpng-dev libjpeg-dev Install GTSAM git clone https://github.com/borglab/gtsam cd gtsam && git checkout 4.2a9 mkdir build && cd build # For Ubuntu 22.04, add -DGTSAM_USE_SYSTEM_EIGEN=ON cmake .. -DGTSAM_BUILD_EXAMPLES_ALWAYS=OFF \ -DGTSAM_BUILD_TESTS=OFF \ -DGTSAM_WITH_TBB=OFFhttps://cjtong.space/post/slam/%E7%9B%B8%E6%9C%BA%E6%A8%A1%E5%9E%8B/Fri, 28 Mar 2025 10:09:36 +0800https://cjtong.space/post/slam/%E7%9B%B8%E6%9C%BA%E6%A8%A1%E5%9E%8B/针孔相机模型 针孔相机模型是很常用，而且有效的模型，它描述了一束光线通过针孔之后，在针孔背面投影成像的关系，基于针孔的投影过程可以通过针孔和畸https://cjtong.space/post/emacs/hugo/Thu, 27 Mar 2025 09:21:33 +0800https://cjtong.space/post/emacs/hugo/工作流 emacs + orgmode + ox-hugo + hugo + githubApi + githubWorkflow 工具介绍 =easy-hugo 用来管理 Hugo 的文章， ox-hugo 用来将 org mode 文章转化为 markdown 格式 快速上手用ox-hugo写博客 安装hugo和ox-hughttps://cjtong.space/post/slam/slam%E6%9C%80%E5%B0%8F%E4%BA%8C%E4%B9%98%E9%97%AE%E9%A2%98/Tue, 25 Mar 2025 09:04:39 +0800https://cjtong.space/post/slam/slam%E6%9C%80%E5%B0%8F%E4%BA%8C%E4%B9%98%E9%97%AE%E9%A2%98/在SLAM的过程中，我们可以构建机器人状态过程。通过对其概率的计算，最终将问题转化为了求最大似然估计的问题。 贝叶斯理论在SLAM状态估计中的https://cjtong.space/post/linux/install/Mon, 24 Mar 2025 10:55:45 +0800https://cjtong.space/post/linux/install/禁用 reflector reflector 会为你选择速度合适的镜像源，但其结果并不准确，同时会清空配置文件中的内容，对于新人来讲并不适用，我们首先对其进行禁用。 systemctl stop reflector.service 1.再次https://cjtong.space/post/g2o/install/Mon, 03 Mar 2025 09:42:36 +0800https://cjtong.space/post/g2o/install/克隆项目 git clone https://github.com/RainerKuemmerle/g2o # 安装依赖 sudo apt-get install libqt4-dev qt4-qmake libqglviewer-dev libsuitesparse-dev libcxsparse3.1.2 libcholmod-dev # g2o_viewer依赖 sudo apt-get install libsuitesparse-dev qtdeclarative5-dev qt5-qmake libqglviewer-dev-qt5 # 编译安装 cd g2o mkdir build cd build cmake .. cmake -DG2O_BUILD_APPS=ON -DG2O_BUILD_EXAMPLES=ON make -j10 sudo make installhttps://cjtong.space/post/cmake/cmake_usefull/Mon, 03 Mar 2025 09:27:22 +0800https://cjtong.space/post/cmake/cmake_usefull/cmake传递版本号 cmake添加下面语句 project(Tutorial VERSION 1.0) configure_file(TutorialConfig.h.in TutorialConfig.h) 创建TutorialConfig.h.in文件 #define Tutorial_VERSION_MINOR @Tutorial_VERSION_MINOR@ cmake会自动生成.h文件 cmakhttps://cjtong.space/post/os/install/Sun, 02 Mar 2025 11:35:53 +0800https://cjtong.space/post/os/install/系统安装 选择中国 配置 配置国内源 pacman-mirrors -i -c China -m rank sudo pacman-mirrors -g sudo pacman -Syyu 中文输入法 sudo pacman -S ibus sudo pacman -S ibus-rime sudo vim ~/.xprofile export GTK_IM_MODULE=ibus export XMODIFIERS=@im=ibus export QT_IM_MODULE=ibus ibus-daemon -d -x 重启 reboot 配置输入法横纵向 home/tong.config/fcitx/rime/build/ 配置默认使用https://cjtong.space/post/emacs/doom/Tue, 21 May 2024 22:45:43 +0800https://cjtong.space/post/emacs/doom/spacemacs切换原因 spacemacs启动慢 配置乱 依赖安装 更新git sudo add-apt-repository ppa:git-core/ppa sudo apt-get update sudo apt-get install git 安装ripgrep curl -LO https://github.com/BurntSushi/ripgrep/releases/download/13.0.0/ripgrep_13.0.0_amd64.deb sudo dpkg -i ripgrep_13.0.0_amd64.deb 安装fd sudo apt-get installhttps://cjtong.space/archive/Mon, 01 Jan 0001 00:00:00 +0000https://cjtong.space/archive/