Hanjie's Blog

一只有理想的羊驼

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Dependencies1

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# CMake
sudo apt-get install cmake

# google-glog + gflags
sudo apt-get install libgoogle-glog-dev

# BLAS & LAPACK
sudo apt-get install libatlas-base-dev

# Eigen3
sudo apt-get install libeigen3-dev

# SuiteSparse and CXSparse (optional)
# - If you want to build Ceres as a *static* library (the default)
#   you can use the SuiteSparse package in the main Ubuntu package
#   repository:
sudo apt-get install libsuitesparse-dev

# - However, if you want to build Ceres as a *shared* library, you must
#   add the following PPA:
sudo add-apt-repository ppa:bzindovic/suitesparse-bugfix-1319687
sudo apt-get update
sudo apt-get install libsuitesparse-dev
Install2
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git clone https://ceres-solver.googlesource.com/ceres-solver
cd ceres-solver
mkdir ceres-bin
cd ceres-bin
cmake ..
make -j3
make test
# Optionally install Ceres, it can also be exported using CMake which
# allows Ceres to be used without requiring installation, see the documentation
# for the EXPORT_BUILD_DIR option for more information.
sudo make install

Test

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bin/simple_bundle_adjuster ../data/problem-16-22106-pre.txt
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iter      cost      cost_change  |gradient|   |step|    tr_ratio  tr_radius  ls_iter  iter_time  total_time
   0  4.185660e+06    0.00e+00    1.09e+08   0.00e+00   0.00e+00  1.00e+04        0    8.67e-02    2.07e-01
   1  1.062590e+05    4.08e+06    8.99e+06   5.36e+02   9.82e-01  3.00e+04        1    1.85e-01    3.93e-01
   2  4.992817e+04    5.63e+04    8.32e+06   3.19e+02   6.52e-01  3.09e+04        1    1.72e-01    5.65e-01
   3  1.899774e+04    3.09e+04    1.60e+06   1.24e+02   9.77e-01  9.26e+04        1    1.77e-01    7.42e-01
   4  1.808729e+04    9.10e+02    3.97e+05   6.39e+01   9.51e-01  2.78e+05        1    1.69e-01    9.11e-01
   5  1.803399e+04    5.33e+01    1.48e+04   1.23e+01   9.99e-01  8.33e+05        1    1.74e-01    1.09e+00
   6  1.803390e+04    9.02e-02    6.35e+01   8.00e-01   1.00e+00  2.50e+06        1    1.75e-01    1.26e+00

Solver Summary (v 1.13.0-eigen-(3.3.4)-lapack-suitesparse-(4.2.1)-cxsparse-(3.1.2)-openmp)

                                     Original                  Reduced
Parameter blocks                        22122                    22122
Parameters                              66462                    66462
Residual blocks                         83718                    83718
Residual                               167436                   167436

Minimizer                        TRUST_REGION

Dense linear algebra library            EIGEN
Trust region strategy     LEVENBERG_MARQUARDT

                                        Given                     Used
Linear solver                     DENSE_SCHUR              DENSE_SCHUR
Threads                                     1                        1
Linear solver threads                       1                        1
Linear solver ordering              AUTOMATIC                 22106,16
Schur structure                         2,3,9                    2,3,9

Cost:
Initial                          4.185660e+06
Final                            1.803390e+04
Change                           4.167626e+06

Minimizer iterations                        7
Successful steps                            7
Unsuccessful steps                          0

Time (in seconds):
Preprocessor                           0.1207

  Residual evaluation                  0.1168
  Jacobian evaluation                  0.5111
  Linear solver                        0.5164
Minimizer                              1.2377

Postprocessor                          0.0032
Total                                  1.3617

Termination:                      CONVERGENCE (Function tolerance reached. |cost_change|/cost: 1.769761e-09 <= 1.000000e-06)

  1. http://ceres-solver.org/installation.html↩︎

  2. http://ceres-solver.org/installation.html↩︎

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硬件安装和接口定义1

hardware
conect

Base端配置

用usb线将应用板与PC连接。打开u-center2，菜单栏的Receiver下，Port选择系统安排的串口号，Baudrate选择115200。

配置GNSS

菜单栏选择View->Configuration View，选择GNSS，按下图设置，令应用板接收GPS和Beidou信号：

GNSS

更改设置后，记得要按下方的Send按钮将参数上传到应用板上。

配置Messages

Configuration View栏目中选择MSG，然后在窗口右边Message下拉栏目中选择F5-05 RTCM3.1 1005，F5-4D RTCM3.1 1077和F5-7F RTCM3.2 1127，然后分别将UART1选上，值为1。

msg

再一次提醒，更改设置后，记得要按下方的Send按钮将参数上传到应用板上。

Configuration View栏目中选择PRT，如下进行设置：

baseprt

设置工作频率

Configuration View栏目中选择RATE，如下进行设置：

RATE1

配置Survey-in mode

Configuration View栏目中选择TMODE3，如下进行设置：

survey-in

Minimum Observation Time和Required Position Accuracy的值可以根据实际情况进行修改。

菜单栏选择View -> Messages View，然后再选择UBX -> NAV -> SVIN 可以查看收敛情况：

fixed

当Status变为Successfully finished时，基站进入了正常的运作模式。

正常运作状态

在STATUS窗口中，Fix Mode显示为Time。

time

Rover端配置

接上PC，并且按上文所述配置好GNSS。

Configuration View栏目中选择PRT，如下进行设置：

prt2

设置工作频率

Configuration View栏目中选择RATE，如下进行设置：

rate2

正常运作状态

fload

  1. https://drive.google.com/file/d/0B7OY5pub_GfIZ2NXOS0wdENhQkE/view↩︎

  2. https://www.u-blox.com/en/u-center-download-windows↩︎

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曾经尝试安装SublimeClang插件（已经很久没更细了），运行时发生很多错误，不得其解，幸运找到一款名叫EasyClangComplete1的插件作为代替。

环境

Ubuntu 14.04.5 + Sublime3

安装

首先安装clang：

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sudo apt-get install clang

然后在Sublime3的Package Control中搜索EasyClangComplete安装。

配置

在Project配置文件xxx.sublime-project中设置common_flags，设置一些项目所需的头文件位置，如：

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"settings":
  	{
    	"ecc_common_flags": ["-I$project_base_path/include", "-I/usr/include", "-I/opt/ros/indigo/include"],
    	"easy_clang_complete_verbose": true
  	}

  1. https://packagecontrol.io/packages/EasyClangComplete↩︎

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