Tong's Blog

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Schur Complement

Foreknowledge For a diagonal matrix \(A=\left(\begin{array}{cccc} a_{11} & 0 & \cdots & 0 \\ 0 & a_{22} & \cdots & 0 \\ \vdots & \vdots & & \vdots \\ 0 &am...

Posted by Tong on April 2, 2020

[Cheatsheet] Jacobians in SLAM

Wiki Convention Lie Group - Lie Algebra Lie algebra / group is defined as follows. Note: translation in Lie Algebra is not equal to the translation \(\mathbf{t}\) in Lie group. \[\bolds...

Posted by Tong on April 2, 2020

C++ - Getting started with SSE

Streaming SIMD Extensions 2 Instructions How to Write Fast Numerical Code C++ - Getting started with SSE Stackoverflow Introduction SSE stands for Streaming SIMD Extensions....

Posted by Tong on March 31, 2020

Pose Interpolation

Eigen::slerp() Survey of Higher Order Rigid Body Motion Interpolation Methods for Keyframe Animation and Continuous-Time Trajectory Estimation 1 Abstract In this survey, we carefully analyze...

Posted by Tong on March 31, 2020

Eigen - Nitty Gritty

Storage orders The default in Eigen is column-major. STL Containers An Eigen object is called “fixed-size vectorizable” if it has fixed size and that size is a multiple of 16 bytes. ...

Posted by Tong on March 26, 2020

Camera Model

The Double Sphere Camera Model 1 https://gitlab.com/VladyslavUsenko/basalt https://github.com/VladyslavUsenko/basalt-mirror Abstract Vision-based motion estimation and 3D reconstruction...

Posted by Tong on March 26, 2020

Plane Sweeping

Real-time plane-sweeping stereo with multiple sweeping directions 1 Abstract Recent research has focused on systems for obtaining automatic 3D reconstructions of urban environments from video ...

Posted by Tong on March 20, 2020

Tower of Hanoi

用二进制来解汉诺塔问题隐藏在汉诺塔中的分形曲线汉诺塔问题I 对于传统的汉诺塔游戏我们做一个拓展，我们有从大到小放置的n个圆盘，开始时所有圆盘都放在左边的柱子上，按照汉诺塔游戏的要求我们要把所有的圆盘都移到右边的柱子上，请实现一个函数打印最优移动轨迹。给定一个int n，表示有n个圆盘。请返回一个string数组，其中的元素依次为每次移动的描述。描述格式为： mo...

Posted by Tong on March 20, 2020

OpenMVS

OpenMVS Accurate Multiple View 3D Reconstruction Using Patch-Based Stereo for Large-Scale Scenes Stereo Pair Selection Given a reference image, we need to find out neighboring images to u...

Posted by Tong on March 14, 2020

OpenMVG

OpenMVG 1 Installation IMPORTANT: Comment the line find_package(Ceres QUIET HINTS ${CERES_DIR_HINTS}) in openMVG/src/CMakeLists.txt, which means we will use the internal ceres library. sudo ...

Posted by Tong on March 14, 2020