Contents

[TOC]

common

Some common library, especially for heading info.

syntax

Some C++ syntax demo

1. syntax01_move
   Some code for std::move.
2. syntax02_dataSize
   Print the data size and give a reference when to use const& and value parameters in function
3. syntax03_stringSplit
   Split string using C++11.
4. syntax04_optional
   Some example about std::optional.
5. syntax05_any
   Some example about std::any.
6. syntax06_dataConversion
   Data conversion, uint8_t[8] => uint64_t

std::thread

1. thread01_HelloWorld
   Ref: http://www.cnblogs.com/haippy/p/3235560.html
2. thread02_Basic
   Basic use of thread. Ref: http://www.cnblogs.com/haippy/p/3236136.html
3. thread03_Mutex
   Use mutex Ref: http://www.cnblogs.com/haippy/p/3237213.html
4. thread04_TimeMutex
   Use timed_mutex. Ref: http://www.cnblogs.com/haippy/p/3237213.html
5. thread05_LockGuard
   Use lock_guard. Ref: http://www.cnblogs.com/haippy/p/3237213.html
6. thread06_UniqueLock
   Use unique_lock. Ref: http://www.cnblogs.com/haippy/p/3237213.html, http://www.cnblogs.com/haippy/p/3346477.html
7. thread07_ConditionVariable01
   Use condition variable. Ref: http://www.cnblogs.com/haippy/p/3252041.html
8. thread08_ConditionVariable02
   Use condition variable. Ref: http://www.cnblogs.com/haippy/p/3252041.html
9. thread09_Async01
   Use async, and some comparison. Ref: https://blog.csdn.net/lijinqi1987/article/details/78909479
10. thread10_JobQueue
    A job queue for the producer-consumer paradigm. Ref: https://github.com/colmap/colmap/blob/dev/src/util/threading.h
11. thread11_PackagedTask
    Use packaged_task example
12. thread12_ComplexPackagedTask
    A complex example using packaged_task, see code note for details.
13. thread13_AtomicBasic
    Basic code using atomic
14. thread20_ComplexProject
    One complex project, class have 2 thread, and the child thread has some callback in class main thread

Eigen

1. Eigen01_Basic
   Basic using about Eigen library
2. Eigen02_LinearEquationSolver
   Solve linear system equations use Eigen
3. Eigen03_Interpolation
   Using interpolation method in Eigen
4. Eigen04_Format
   Using fmt::format to format Eigen::Vector and Eigen::Matrix

Sophus

1. SophusStudy
   study code about Sophus library

Ceres

1. ceres01_HelloWorld
   ceres tutorials, hello world. http://ceres-solver.org/nnls_tutorial.html#hello-world
2. ceres02_Powell
   ceres tutorials, powell function.a http://ceres-solver.org/nnls_tutorial.html#powell-s-function
3. ceres03_CurveFitting
   ceres tutorials, curve fitting, with robust to reduce outliers. http://ceres-solver.org/nnls_tutorial.html#curve-fitting
4. ceres04_BundleAdjustment
   ceres tutorials, bundle adjustment. http://ceres-solver.org/nnls_tutorial.html#bundle-adjustment
5. ceres05_libMVBundleAdjuster
   ceres tutorials, bundle adjustment algorithm used by Blender/libmv. https://ceres-solver.googlesource.com/ceres-solver/+/master/examples/libmv_bundle_adjuster.cc
6. ceres06_RobotPoseMLE
   Simulate a robot traversing down a 1-dimension hallway with noise odometry readings and noise range readings of the end of the hallway. By fusing the noisy odometry and sensor readings this example demonstrates how to compute the maximum likelihood estimate (MLE) of the robot's pose at each timestamp. https://github.com/ceres-solver/ceres-solver/blob/master/examples/robot_pose_mle.cc
7. ceres07_PoseGraph2D
   An example of solving a graph-based formulation of SLAM. It reads a 2D pose graph problem definition file in the g2o format, formulates and solves the Ceres optimization problem, and outputs the original and optimized poses to file for plotting. https://github.com/ceres-solver/ceres-solver/tree/master/examples/slam/pose_graph_2d
8. ceres08_PoseGraph3D
   An example formulate the pose graph based SLAM problem in 3-Dimensions with relative pose constraints. The example also illustrates how to use Eigen’s geometry module with Ceres’s automatic differentiation functionality. https://github.com/ceres-solver/ceres-solver/tree/master/examples/slam/pose_graph_3d
9. ceres09_SophusPoseGraph3D
   Same as ceres08_PoseGraph3D, but use Sophus::SO3 to represent the rotation. The code don't run correctly, see ceres12_Pose3DEstimation for better usage
10. ceres10_CovarianceEstimation
    Calculate the covariance of estimated value. Here we only take 1 parameter as example, more parameters and complex problem(have information matrix in problem, manifold) could also be calculated. Ref: http://ceres-solver.org/nnls_covariance.html#covariance
11. ceres11_Pose2DEstimation
    Consider we have two matched 2D points pair $\mathbf{p}A \leftrightarrow \mathbf{p}B$, and want to estimate the 2D transformation $\mathbf{R} \in SO(2), \mathbf{p} \in \mathbb{R}^2$ between the points, i.e., $$ \mathbf{e} = \sum{n=0}^{N} (\mathbf{R} \mathbf{p}{A,n}+ \mathbf{p} - \mathbf{p}_{B,n}) $$ The code using two method to optimize this problem,
    • Analytical Jacobian with pose manifold (R, p)
    • ceres auto Jacobian with pose manifold (R, p)
    • ceres auto Jacobian with angle manifold (theta, p).
12. ceres12_Pose3DEstimation
    Similar to ceres11_Pose2DEstimation but with 3D transformation. Consider we have two matched 3D points pair $\mathbf{p}A \leftrightarrow \mathbf{p}B$, and want to estimate the 3D transformation $\mathbf{R} \in SO(3), \mathbf{p} \in \mathbb{R}^3$ between the points, i.e., $$ \mathbf{e} = \sum{n=0}^{N} (\mathbf{R} \mathbf{p}{A,n}+ \mathbf{p} - \mathbf{p}_{B,n}) $$ The problem is also named after ICP, the code using two method to optimize this problem,
    • Analytical Jacobian with pose manifold (R, p)
    • ceres auto Jacobian with pose manifold (R, p)

Note

1. Migrate code from ceres 1.x to ceres 2.x, the main difference is using Manifold instead of LocalParameterization
   • GlobalSize => AmbientSize
   • LocalSize => TangentSize
   • ComputeJacobian => PlusJacobian
   • add Minus and MinusJacobian, but these two method don't used currently, could just return true; right now(see github issue)

g2o

1. g2o01_CircleFit
   Using g2o for circle fitting Ref: https://github.com/RainerKuemmerle/g2o/blob/master/g2o/examples/data_fitting/circle_fit.cpp
2. g2o02_CircleFitWithoutRegister
   Same as g2o01_CircleFit, but don't use OptimizationAlgorithmFactory to create solver.
3. g2o03_CurveFit
   Use g2o for curve fitting Ref: https://github.com/RainerKuemmerle/g2o/blob/master/g2o/examples/data_fitting/curve_fit.cpp

PCL

1. pcl01_Basic
   Using a matrix to transform a point cloud Ref: https://pcl.readthedocs.io/projects/tutorials/en/latest/matrix_transform.html#matrix-transform
2. pcl02_PassThroughFilter
   Filtering a point cloud using pass through filter Ref: https://pcl.readthedocs.io/projects/tutorials/en/latest/passthrough.html#passthrough
3. pcl03_VoxelGridFilter
   Ref: https://pcl.readthedocs.io/projects/tutorials/en/latest/voxel_grid.html#voxelgrid
4. pcl04_IterativeClosestPoint
   Using ICP(iterative closest point) to align two point clouds Ref: https://pcl.readthedocs.io/projects/tutorials/en/latest/iterative_closest_point.html
5. pcl05_IncrementalRegisterClouds
   Incrementally register pairs of clouds Ref: https://pcl.readthedocs.io/projects/tutorials/en/latest/pairwise_incremental_registration.html#pairwise-incremental-registration

algorithm

Some algorithm

1. alg01_DBSCAN
   DBSCAN implementation using C++ Ref: https://en.wikipedia.org/wiki/DBSCAN
2. alg02_BinarySearch
   Search value $y_1$, $y_2$ in data to ensure $y_1 \le x < y_2$

math

1. math01_CatmullRomSpline
   Curve fitting using Catmull-Rom Spline
   • scripts/analyze.py: draw the fitting resulting
   • scripts/analyze.ipynb: symbol verification: cannot insert a control point into CR spline and also keep curve unchanged

Pangolin

1. Pangolin01_HelloPangolin
   Draw and show cube using pangolin. Ref: https://github.com/stevenlovegrove/Pangolin/blob/master/examples/HelloPangolin/main.cpp
2. Pangolin02_SimplePlot
   Plot sin(t), cos(t) and sin(t) + cos(t) and show in pangolin. Ref: https://github.com/stevenlovegrove/Pangolin/blob/master/examples/SimplePlot/main.cpp
3. Pangolin03_SimpleDisplay
   Display and some UI widgets Ref: https://github.com/stevenlovegrove/Pangolin/blob/master/examples/SimpleDisplay/main.cpp
4. Pangolin04_MultiDisplay
   Multiple display. Ref: https://github.com/stevenlovegrove/Pangolin/blob/master/examples/SimpleMultiDisplay/main.cpp

boost

1. boost01_FileSystem
   Study code about boost filesystem: list file and folder, create folder
2. boost02_TimeStudy
   Study code about chrono time and boost time
3. boost03_Interpolation
   Rational interpolation and cubic B-spline interpolation
4. boost04_Tokenizer
   Boost tokenizer, separate string with specified separator
5. boost05_LexicalCast
   Convert string to int/long/double and vice verse
6. boost06_Serialization
   Serialization basic type or class data to text, xml and binary.
7. boost07_Process
   Start multiple process from current process using boost::process

asio

1. asio01_Basic
   Basic skills and concepts required for asio. Ref: https://www.boost.org/doc/libs/1_81_0/doc/html/boost_asio/tutorial.html, basic skills
2. asio02_SyncTcpClient
   Synchronous TCP client. Ref: https://www.boost.org/doc/libs/1_81_0/doc/html/boost_asio/tutorial/tutdaytime1.html
3. asio03_SyncTcpServer
   Synchronous TCP server. Ref: https://www.boost.org/doc/libs/1_81_0/doc/html/boost_asio/tutorial/tutdaytime2.html
4. asio04_AsyncTcpServer
   Asynchronous TCP server. Ref: https://www.boost.org/doc/libs/1_81_0/doc/html/boost_asio/tutorial/tutdaytime3.html
5. asio05_SyncUdpClient
   Synchronous UDP client. Ref: https://www.boost.org/doc/libs/1_81_0/doc/html/boost_asio/tutorial/tutdaytime4.html
6. asio06_SyncUdpServer
   Synchronous UDP server. Ref: https://www.boost.org/doc/libs/1_81_0/doc/html/boost_asio/tutorial/tutdaytime5.html
7. asio07_AsyncUdpServer
   Asynchronous UDP server. Ref: https://www.boost.org/doc/libs/1_81_0/doc/html/boost_asio/tutorial/tutdaytime6.html
8. asio08_AsyncTcpUdpServer
   A combined TCP/UDP asynchronous server. Ref: https://www.boost.org/doc/libs/1_81_0/doc/html/boost_asio/tutorial/tutdaytime7.html
9. asio09_MulticastSender
   Multicast UDP sender using asio, based on boost1.58.
10. asio10_MulticastReceiver
    Multicast UDP receiver using asio, based on boost1.58.
11. asio11_ObtainWebPage
    Obtain web page content using boost::asio

beast

1. beast01_SimpleHttpClient
   Simple HTTP client. Ref: https://www.boost.org/doc/libs/1_81_0/libs/beast/doc/html/beast/quick_start/http_client.html
2. beast02_SimpleWebSocketClient
   Simple WebSocket client. Ref: https://www.boost.org/doc/libs/1_81_0/libs/beast/doc/html/beast/quick_start/websocket_client.html
3. beast03_SyncWebSocketClient
   Synchronous WebSocket client, don't work success. Ref:
   • https://www.boost.org/doc/libs/1_81_0/libs/beast/example/websocket/server/sync/websocket_server_sync.cpp
   • https://www.ningto.com/post/3F43B74209B4DC0D11BCCADAC3E041CE
4. beast04_SyncWebSocketServer
   Synchronous WebSocket server. Ref:
   • https://www.boost.org/doc/libs/1_81_0/libs/beast/example/websocket/client/sync/websocket_client_sync.cpp
   • https://www.ningto.com/post/3F43B74209B4DC0D11BCCADAC3E041CE
5. beast05_AsyncWebSocketClient
   Asynchronous WebSocket client. Ref: https://www.boost.org/doc/libs/1_81_0/libs/beast/example/websocket/client/async/websocket_client_async.cpp
6. beast06_AsyncWebSocketServer
   Asynchronous WebSocket server. Ref: https://www.boost.org/doc/libs/1_81_0/libs/beast/example/websocket/server/async/websocket_server_async.cpp
7. beast07_SyncHttpClient
   Synchronous HTTP client. Ref: https://www.boost.org/doc/libs/1_81_0/libs/beast/example/http/client/sync/http_client_sync.cpp
8. beast08_SyncHttpServer
   Synchronous HTTP server. Ref: https://www.boost.org/doc/libs/1_81_0/libs/beast/example/http/server/sync/http_server_sync.cpp
9. beast09_AsyncHttpClient
   Asynchronous HTTP client. Ref: https://www.boost.org/doc/libs/1_81_0/libs/beast/example/http/client/async/http_client_async.cpp
10. beast10_AsyncHttpServer
    Asynchronous HTTP server. Ref: https://www.boost.org/doc/libs/1_81_0/libs/beast/example/http/server/async/http_server_async.cpp

cxxopts

Some study using cxxopts library

spdlog

Some study using spdlog library

1. spdlog01_Basic
   Some basic log
2. spdlog02_MultiSink
   Use spdlog with multi sink, the console only write warning log, and file write all
3. spdlog03_CustomerFormat
   Add customer format flag.
4. spdlog04_UseInDll
   Use spdlog in dll

Programming Practice

1. "spdlog::info()" could not add "sourfile:location" flag in logging, while "SPDLOG_INFO" does.
2. No module name could be add to log, should setting it manually(just input into log message).

json

some usage for nlohmann json library.

1. json01_Basic
   Basic usage

jsoncpp

some usage for jsoncpp library.

1. jsoncpp01_Basic
   Basic usage

YAML

1. YamlStudy
   Write and read yaml file using yaml-cpp.

protobuf

Some usage about protobuf

1. protobuf01_Basic
   Basic example Code to generate python file:

   protoc --proto_path ./proto --python_out . ./proto/cc/AddressBook.proto

SqliteCpp

Basic SQLite usage using SQLiteCpp.

SqliteOrm

Some usage about SQLite ORM

1. SqliteOrm01_Basic
   Basic usage

SqliteModernCpp

Some study code about sqlite_modern_cpp

1. SqliteModernCpp01_Basic
   Basic usage

archive

Compress or decompress file using libarchive

1. archive01_basic
   Using libarchive to compress/decompress files

httplib

Basic usage for httplib

1. http01_Basic
   Basic client/server
2. http02_WebClient
   Get web page content from url

libhv

Some study code about libhuv

1. hv01_TcpServer
   Basic TCP server
2. hv02_TcpClient
   Basic TCP Client
3. hv03_HttpServer
   Basic HTTP server
4. hv04_WebSocketServer
   Basic web socket server
5. hv05_WebSocketClient
   Basic web socket client

TurboJpeg

Some study using TurboJpeg

1. TurboJpeg01_CompressBenchmark
   Compress YUYV image to JPEG using different method, and calculate the average used time.

Video Process

Some example about video process

1. VideoProcess01_SimpleX264Encoder
   Compress YUYV image to H264 video using libx264
2. VideoProcess02_X264Encoder
   Video encoder(YUV => H264) using libx264
3. VideoProcess03_FFmpegEncoder
   Video encoder(YUV => H264) using FFmpeg
4. VideoProcess04_FFmpegDecoder
   Video dncoder(H264 => YUV) using FFmpeg

system

Some system applications

1. system01_GetNetDeviceInfo
   Get the net device info, include IPv4 address, mac address Ref: 1. https://segmentfault.com/a/1190000005138358

pybind

Some code about pybind11

1. pybind01_Basic
   Basic usage. Ref: https://pybind11.readthedocs.io/en/stable/basics.html
2. pybind02_Class
   Use class. Ref: https://pybind11.readthedocs.io/en/stable/classes.html

Others

1. Alglib01_Interpolation
   Study interpolation method in alglib.
2. GeometryTransform
   Transform among rotation matrix, euler angle, rotation vector and SO3, include Matlab Script Ref: https://blog.csdn.net/mulinb/article/details/51227597