Self-driving related docs

从零开始的 IMU 状态模型推导: https://fzheng.me/2016/11/20/imu_model_eq/
GPS：https://www.zhihu.com/question/20903715
Radar: https://zhuanlan.zhihu.com/p/34675392

How to debug network issues

traceroute google.com
ping google.com
dhclient
ifconfig name up/down

Stop cursor blinking

http://www.jurta.org/en/prog/noblink

For cygwin/mintty + emacs blinking cursor issue, it can be solved by:

To stop the cursor from blinking in Micro$oft Windows applications:

Or just navigate to Control Panel / Keyboard, and under "Cursor blink rate" move the slider all the way to the left.

For Google docs:

Install Stylebot extension:

Use:

.kix-cursor-caret {

    border-color: rgb(255,0,0);

border-width: 3px;

}

.kix-cursor {

    -webkit-animation-iteration-count: 0 !important; 

}

.docs-text-ui-cursor-blink {

  animation-name: none;

}

===

In Firefox, it's possible to type about:config in the url bar, and

create ui.caretBlinkTime with type integer and value 0.

===

For Qt5 applications: https://github.com/igogo/qt5noblink

===

For Mac:

defaults write -g NSTextInsertionPointBlinkPeriodOn -float 99999999

defaults write -g NSTextInsertionPointBlinkPeriodOff -float 99999999

defaults write -g NSTextInsertionPointBlinkPeriod -float 3600000

How to get buildifier: the BAZEL BUILD file formatter

1. Install Go:

Install Go Development Kit on Mac:

https://golang.org/doc/install?download=go1.8.1.darwin-amd64.pkg

Install Go in ubuntu:

Follow    https://golang.org/doc/install#install

mkdir ~/go

    echo export GOPATH=${HOME}/go >> ~/.bashrc

    source ~/.bashrc

2. Install Buildifier by:

go get github.com/bazelbuild/buildtools/buildifier

This will put the buildifier in ~/go/bin/buildifier in mac, go/bin in ubuntu

How to fix face of a girl by using photoshop

1. Use liquidify to fix the shape of the face
2. Use Alt + click to select a color and paint tool to cover some unwanted colors. Use dodge tool or burn tool to change the exposure of the touched areas.
3. Use the technique in this video: https://www.youtube.com/watch?v=Qw5dUVTmzro. To summarize: separate low frequency and high frequency.
To get low frequency: copy the layer and use Gaussian blur
To get high frequency: copy the layer | Image | Apply Image | select the low frequency layer, blending: substract, scale 2, offset 128. Then change the blending mode to Linear Light for the high frequency layer.
Done.

Understand Ellipsoid, Geoid, NAVD 88, WGS 84 etc, oh my

Very related reading: https://www.groundcontrolpoints.com/

How do geoids relate to datums?
Undulation values represent the distance along the ellipsoidal normal from the ellipsoid to the geoid.  As such, each geoid is referenced to a specific ellipsoid and datum.  For example, the
Geoid96/Geoid99/Geoid03 undulations are all relative to NAD83, while EGM96 is relative to WGS84.  It is important that the correct datum be selected when using a geoid for MSL height input or output since the horizontal position will determine the undulation value applied.  Where
the difference between datums is small, such as WGS84 and ITRF, the error will be negligible given the grid spacing of the geoid, but for other datums, such as NAD27 and NAD83, the differences are too large to ignore.


https://kknews.cc/world/lknzeo2.html
https://gisgeography.com/vertical-datum/
http://www.lidarmag.com/PDF/LiDARNewsMagazine_Kessler-ImportanceOfDatumsInMapping_Vol4No5.pdf

Fix Ubuntu doesn't sleep after closing the computer lid

Add
sudo su <
echo LID0 > /proc/acpi/wakeup && echo XHC1 > /proc/acpi/wakeup && echo ARPT > /proc/acpi/wakeup                                      
EOF

To /etc/rc.local file.