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...d stub//进行数据校验，长度6~15位 if(username.trim().length()<6||username.trim().length()>15||username==null) {this.addFieldError("username", "用户名长度不合法！");}if(password.trim().length()<6||password.trim().length()>15||password==null) {this.addFieldError("password", "密码长度不合法！");} }//登陆业务逻辑public String loginMethod() {if(username.equals("chenghaoran")&&password.equals("12345678")) {ActionContext.getContext().getSession().put("user", username);return "loginOK";}else {this.addFieldError("err","用户名或密码不正确！");return "loginFail";} }//手动校验validateXxxpublic void validateLoginMethod() {//使用正则校验if(username==null||username.trim().equals("")) {this.addFieldError("username","用户名不能为空！");}else {if(!Pattern.matches("[a-zA-Z]{6,15}", username.trim())) {this.addFieldError("username", "用户名格式错误！");} }if(password==null||password.trim().equals("")) {this.addFieldError("password","密码不能为空！");}else {if(!Pattern.matches("\\d{6,15}", password.trim())) {this.addFieldError("password", "密码格式错误！");} }} } /20171105_shiyan_upanddown/src/nuc/sw/interceptor/LoginInterceptor.java package nuc.sw.interceptor;import com.opensymphony.xwork2.Action;import com.opensymphony.xwork2.ActionContext;import com.opensymphony.xwork2.ActionInvocation;import com.opensymphony.xwork2.ActionSupport;import com.opensymphony.xwork2.interceptor.AbstractInterceptor;public class LoginInterceptor extends AbstractInterceptor {@Overridepublic String intercept(ActionInvocation arg0) throws Exception {// TODO Auto-generated method stub//判断是否登陆，通过ActionContext访问SessionActionContext ac=arg0.getInvocationContext();String username=(String)ac.getSession().get("user");if(username!=null&&username.equals("chenghaoran")) {return arg0.invoke();//放行}else {((ActionSupport)arg0.getAction()).addActionError("请先登录！");return Action.LOGIN;} }} /20171105_shiyan_upanddown/src/struts.xml <?xml version="1.0" encoding="UTF-8"?><!DOCTYPE struts PUBLIC "-//Apache Software Foundation//DTD Struts Configuration 2.1.7//EN""http://struts.apache.org/dtds/struts-2.1.7.dtd"><struts><constant name="struts.i18n.encoding" value="utf-8"/><package name="default" extends="struts-default"><interceptors><interceptor name="login" class="nuc.sw.interceptor.LoginInterceptor"></interceptor></interceptors> <action name="docUpload" class="nuc.sw.action.DocUploadAction"><!-- 使用fileUpload拦截器 --><interceptor-ref name="fileUpload"><!-- 指定允许上传的文件大小最大为50000字节 --><param name="maximumSize">50000</param></interceptor-ref><!-- 配置默认系统拦截器栈 --><interceptor-ref name="defaultStack"/><!-- param子元素配置了DocUploadAction类中savePath属性值为/upload --><param name="savePath">/upload</param><result>/showFile.jsp</result><!-- 指定input逻辑视图，即不符合上传要求，被fileUpload拦截器拦截后，返回的视图页面 --><result name="input">/uploadFile.jsp</result></action> <action name="docDownload" class="nuc.sw.action.DocDownloadAction"><!-- 指定结果类型为stream --><result type="stream"><!-- 指定下载文件的文件类型 text/plain表示纯文本 --><param name="contentType">application/msword,text/plain</param><!-- 指定下载文件的入口输入流 --><param name="inputName">inputStream</param><!-- 指定下载文件的处理方式与文件保存名 attachment表示以附件形式下载，也可以用inline表示内联即在浏览器中直接显示，默认值为inline --><param name="contentDisposition">attachment;filename="${downloadFileName}"</param><!-- 指定下载文件的缓冲区大小，默认为1024 --><param name="bufferSize">40960</param></result></action><action name="loginAction" class="nuc.sw.action.LoginAction" method="loginMethod"><result name="loginOK">/uploadFile.jsp</result><result name="loginFail">/login.jsp</result><result name="input">/login.jsp</result></action> </package></struts> /20171105_shiyan_upanddown/WebContent/login.jsp <%@ page language="java" contentType="text/html; charset=UTF-8"pageEncoding="UTF-8"%><%@ taglib prefix="s" uri="/struts-tags" %> <!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd"><html><head><meta http-equiv="Content-Type" content="text/html; charset=UTF-8"><title>登录页</title><s:head/></head><body><s:actionerror/><s:fielderror fieldName="err"></s:fielderror><s:form action="loginAction" method="post"> <s:textfield label="用户名" name="username"></s:textfield><s:password label="密码" name="password"></s:password><s:submit value="登陆"></s:submit></s:form></body></html> /20171105_shiyan_upanddown/WebContent/showFile.jsp <%@ page language="java" contentType="text/html; charset=UTF-8"pageEncoding="UTF-8"%><%@ taglib prefix="s" uri="/struts-tags" %><!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd"><html><head><meta http-equiv="Content-Type" content="text/html; charset=UTF-8"><title>显示上传文档</title></head><body><center><font style="font-size:18px;color:red">上传者：<s:property value="name"/></font><table width="45%" cellpadding="0" cellspacing="0" border="1"><tr><th>文件名称</th><th>上传者</th><th>上传时间</th></tr><s:iterator value="uploadFileName" status="st" var="doc"><tr><td align="center"><a href="docDownload.action?downPath=upload/<s:property value="doc"/>"><s:property value="doc"/> </a></td><td align="center"><s:property value="name"/></td><td align="center"><s:date name="createTime" format="yyyy-MM-dd HH:mm:ss"/></td></tr></s:iterator></table></center></body></html> /20171105_shiyan_upanddown/WebContent/uploadFile.jsp <%@ page language="java" contentType="text/html; charset=UTF-8"pageEncoding="UTF-8"%><%@ taglib prefix="s" uri="/struts-tags" %><!DOCTYPE html PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN" "http://www.w3.org/TR/html4/loose.dtd"><html><head><meta http-equiv="Content-Type" content="text/html; charset=UTF-8"><title>多文件上传</title></head><body><center><s:form action="docUpload" method="post" enctype="multipart/form-data"><s:textfield name="name" label="姓名" size="20"/><s:file name="upload" label="选择文档" size="20"/><s:file name="upload" label="选择文档" size="20"/><s:file name="upload" label="选择文档" size="20"/><s:submit value="确认上传" align="center"/></s:form></center></body></html> 本篇文章为转载内容。原文链接：https://blog.csdn.net/qq_34101492/article/details/78811741。 该文由互联网用户投稿提供，文中观点代表作者本人意见，并不代表本站的立场。 作为信息平台，本站仅提供文章转载服务，并不拥有其所有权，也不对文章内容的真实性、准确性和合法性承担责任。 如发现本文存在侵权、违法、违规或事实不符的情况，请及时联系我们，我们将第一时间进行核实并删除相应内容。

...以包含其他内容，例如数据表格、搜索表单或相关的logo图片。 我们可以使用该元素来写整个页面的标题部分： The most important heading on this page 同一个页面中，每一个内容区块都可以有自己的元素，例如： The most important heading on this page 在HTML5中，我们可以不使用div，而用更加语义化的footer来写： copyright sitemap contact to top 在同一个页面中可以使用多个元素，即可以用作页面整体的页脚，也可以作为一个内容区块的结尾，例如，我们可以将直接写在或是中： Section content appears here. Footer information for section. Article content appears here. Footer information for article. nav -- 作用 -- 导航栏 nav nav元素是一个可以用来作为页面导航的链接组；其中的导航元素链接到其他页面或当前页面的其他部分。并不是所有的链接组都要被放进元素；例如，在页脚中通常会有一组链接，包括服务条款、首页、版权声明等；这时使用元素是最恰当的，而不需要元素。 一直以来，我们都习惯用如下这种方式来定义导航条： Home About Blog 下面是W3C给出的一个代码示例： The Wiki Center Of Exampland Home Current Events ...more... Demos in Exampland Written by A. N. Other. Public demonstrations Demolitions ...more... Public demonstrations ...more... Demolitions ...more... ...more... Edit | Delete | Rename © copyright 1998 Exampland Emperor 关键自li，em，dl，ul,ol,footer,header,nav,aside,article section 版块 用于划分页面上的不同区域,或者划分文章里不同的节 header 页面头部或者版块(section)头部 footer 页面底部或者(section)底部 nav 导航 (包含链接 ... html5新特性-header,nav,footer,aside,article,section等各元素的详解 Html5新增了27个元素,废弃了16个元素,根据现有的标准规范,把HTML5的元素按优先级定义为结构性属性.级块性元素.行内语义性元素和交互性元素四大类. 下面是对各标签的详解,section.he ... h5中的结构元素header、nav、article、aside、section、footer介绍 结构元素不具有任何样式,只是使页面元素的的语义更加明确. header元素 header元素是一种具有引导和导航作用的的结构元素,该元素可以包含所有通常放在页面头部的内容.header元素通常用来放置 ... html5，html5教程 html5,html5教程 1.向后兼容 HTML5是这样被定义的:能向后兼容目前UA处理内容的方式.为了让语言更简单,一些老的元素和Attribute被舍弃.比如一些纯粹用于展现的元素(译注:即非语 ... 一步HTML5教程学会体系 HTML5是HTML最新的版本,万维网联盟. HTML5是下一代的HTML标准,HTML5是为了在移动设备上支持多媒体. 新特性: 绘画的canvas元素,用于媒介回放的video和audio元素,对 ... IT兄弟连 HTML5教程 了解HTML5的主流应用1 在很多人眼里,HTML5与互联网营销密切相关,但其实从开发者的角度而言,它是一种网页标准,定义了浏览器语言的编写规范.伴随HTML5标准尘埃落定,浏览器对HTML5特性的逐步支持,再加上国内对HTML ... 【转帖】39个让你受益的HTML5教程 39个让你受益的HTML5教程 闲话少说,本文作者为大家收集了网上学习HTML5的资源,期望它们可以帮助大家更好地学习HTML5. 好人啊! 不过,作者原来说的4 ... 【特别推荐】Web 开发人员必备的经典 HTML5 教程 对于我来说,Web 前端开发是最酷的职业之一,因为你可以用新的技术发挥,创造出一些惊人的东西.唯一的问题是,你需要跟上这个领域的发展脚步,因此,你必须不断的学习,不断的前进.本文将分享能够帮助您快速掌 ... HTML5教程之本地存储SessionStorage SessionStorage: 将数据保存在session对象中,所谓session是指用户在浏览某个网站时,从进入网站到浏览器关闭所经过的这段时间会话,也就是用户浏览这个网站所花费的时间就是sess ... 随机推荐 【转】MySQL索引背后的数据结构及算法原理 摘要 本文以MySQL数据库为研究对象,讨论与数据库索引相关的一些话题.特别需要说明的是,MySQL支持诸多存储引擎,而各种存储引擎对索引的支持也各不相同,因此MySQL数据库支持多种索引类型,如BT ... IIS7 / IIS7.5 URL 重写 HTTP 重定向到 HTTPS(转) 转自: http://www.cnblogs.com/yipu/p/3880518.html 1.购买SSL证书,参考:http://www.cnblogs.com/yipu/p/3722135. ... OpenGL的glViewPort窗口设置函数实现分屏 之前实现过全景图片查看(OpenGL的几何变换3之内观察全景图),那么我们需要进行分屏该如何实现呢?如下图: 没错就是以前提过的glViewPort函数,废话不多说了,我直接上代码: //从这里开始进 ... hdu 4764 Stone (巴什博弈，披着狼皮的羊，小样，以为换了身皮就不认识啦) 今天(2013/9/28)长春站,最后一场网络赛! 3~5分钟后有队伍率先发现伪装了的签到题(博弈) 思路: 与取石头的巴什博弈对比 题目要求第一个人取数字在[1,k]间的某数x,后手取x加[1,k] ... android报表图形引擎(AChartEngine)demo解析与源码 AchartEngine支持多种图表样式,本文介绍两种:线状表和柱状表. AchartEngine有两种启动的方式:一种是通过ChartFactory.getView()方式来直接获取到view ... CSS长度单位及区别 em ex px pt in 1. css相对长度单位 Ø em 元素的字体高度 Ø ex 字体x的高度 Ø px ... es6的箭头函数 1.使用语法 : 参数 => 函数语句; 分为以下几种形式 : (1) ()＝>语句 ( )＝> statement 这是一种简写方法省略了花括号和return 相当于 ()＝&g ... pdfplumber库解析pdf格式 参考地址:https://github.com/jsvine/pdfplumber 简单的pdf转换文本: import pdfplumber with pdfplumber.open(path) a ... KMP替代算法——字符串Hash 很久以前写的... 今天来谈谈一种用来替代KMP算法的奇葩算法--字符串Hash 例题:给你两个字符串p和s,求出p在s中出现的次数.(字符串长度小于等于1000000) 字符串的Hash 根据字面意 ... SSM_CRUD新手练习(5)测试mapper 上一篇我们使用逆向工程生成了所需要的bean.dao和对应的mapper.xml文件,并且修改好了我们需要的数据库查询方法. 现在我们来测试一下DAO层,在test包下新建一个MapperTest.j ... 本篇文章为转载内容。原文链接：https://blog.csdn.net/weixin_35666639/article/details/118169985。 该文由互联网用户投稿提供，文中观点代表作者本人意见，并不代表本站的立场。 作为信息平台，本站仅提供文章转载服务，并不拥有其所有权，也不对文章内容的真实性、准确性和合法性承担责任。 如发现本文存在侵权、违法、违规或事实不符的情况，请及时联系我们，我们将第一时间进行核实并删除相应内容。

...计算相结合，提升他们解决实际问题的能力。 此外，艺术家和设计师也在利用颜色叠加的原理进行创新实践。例如，荷兰艺术家埃舍尔借助颜色叠加创作出视错觉艺术作品，展示出二维空间内不同颜色相互作用产生的神奇效果。而在时尚界，设计师们通过面料上的颜色叠加与透明度变化，营造出丰富多变且极具层次感的视觉体验。 总的来说，颜色叠加这一基本原理不仅在科普实验中有生动体现，更在科技、教育、艺术等多个领域发挥着重要作用，不断推动着人类对色彩世界的深入理解和广泛利用。

...被加载执行的用户进程数据段所对应的全局描述符号给显示到桌面上，上面代码执行后情况如下： 我们看到，在控制台中执行hlt命令后，内核加载了用户进程，同时在控制台下方输出了一个字符串，也就是0x1E,这个数值对应的就是当前运行用户进程其数据段对应的全局描述符号。一旦有这个信息之后，另一个进程就可以有机可乘了。 接着我们在本地目录创建一个新文件叫crack.c,其内容如下： void main() {char p = (char)0x123;p[0] = 'c';p[1] = 'r';p[2] = 'a';p[3] = 'c';p[4] = 'k';p[5] = 0;} 它的目的简单，就是针对内存地址0x123处写入字符串”crack”.接着我们修改一下makefile，使得内核编译时，能把crack.c编译成二进制文件： CFLAGS=-fno-stack-protectorckernel : ckernel_u.asm app_u.asm crack_u.asm cp ckernel_u.asm win_sheet.h win_sheet.c mem_util.h mem_util.c write_vga_desktop.c timer.c timer.h global_define.h global_define.c multi_task.c multi_task.h app_u.asm app.c crack_u.asm crack.c makefile '/media/psf/Home/Documents/操作系统/文档/19/OS-kernel-win-sheet/'ckernel_u.asm : ckernel.o....crack_u.asm : crack.o./objconv -fnasm crack.o crack_u.asmcrack.o : crack.cgcc -m32 -fno-stack-protector -fno-asynchronous-unwind-tables -s -c -o crack.o crack.c 然后我们在本地目录下，把api_call.asm拷贝一份，并命名为crack_call.asm,后者内容与前者完全相同，只不过稍微有那么一点点改变，例如： BITS 32mov AX, 30 8mov DS, axcall mainmov edx, 4 ;返回内核int 02Dh.... 这里需要注意，语句： mov AX, 30 8mov DS, ax 其中30对应的就是前面显示的0x1E，这两句汇编的作用是，把程序crack的数据段设置成下标为30的全局描述符所指向的内存段一致。这就意味着crack进程所使用的数据段就跟hlt启动的进程所使用的数据段一致了！于是在crack.c中，它对内存地址为0x123的地方写入字符串”crack”,那就意味着对hlt加载用户进程的内存空间写入对应字符串！ 完成上面代码后，我们在java项目中，增加代码，一是用来编译crack进程，而是把crack代码写入虚拟磁盘。在OperatingSystem.java中，将代码做如下添加： public void makeFllopy() {writeFileToFloppy("kernel.bat", false, 1, 1);....header = new FileHeader();header.setFileName("crack");header.setFileExt("exe");file = new File("crack.bat");in = null;try {in = new FileInputStream(file);long len = file.length();int count = 0;while (count < file.length()) {bbuf[count] = (byte) in.read();count++;}in.close();}catch(IOException e) {e.printStackTrace();return;}header.setFileContent(bbuf);fileSys.addHeader(header);....}public static void main(String[] args) {CKernelAsmPrecessor kernelPrecessor = new CKernelAsmPrecessor();kernelPrecessor.process();kernelPrecessor.createKernelBinary();CKernelAsmPrecessor appPrecessor = new CKernelAsmPrecessor("hlt.bat", "app_u.asm", "app.asm", "api_call.asm");appPrecessor.process();appPrecessor.createKernelBinary();CKernelAsmPrecessor crackPrecessor = new CKernelAsmPrecessor("crack.bat", "crack_u.asm", "crack.asm", "crack_call.asm");crackPrecessor.process();crackPrecessor.createKernelBinary();OperatingSystem op = new OperatingSystem("boot.bat");op.makeFllopy();} 在main函数中，我们把crack.c及其附属汇编文件结合在一起，编译成二进制文件crack.bat，在makeFllopy中，我们把编译后的crack.bat二进制数据读入，并把它写入到虚拟磁盘中，当系统运行起来后，可以把crack.bat二进制内容作为进程加载执行。 完成上面代码后，回到内核的C语言部分，也就是write_vga_desktop.c做一些修改，在kernel_api函数中，修改如下： int kernel_api(int edi, int esi, int ebp, int esp,int ebx, int edx, int ecx, int eax) {....else if (edx == 14) {sheet_free(shtctl, (struct SHEET)ebx);//change herecons_putstr((char)(task->pTaskBuffer->pDataSeg + 0x123));}....}void console_task(struct SHEET sheet, int memtotal) {....for(;;) {....else if (i == KEY_RETURN) {....else if (strcmp(cmdline, "crack") == 1) {cmd_execute_program("crack.exe");}....}....} 在kernel_api中，if(edx == 14)对应的api调用是api_closewin，也就是当用户进程关闭窗口时，我们把进程数据偏移0x123处的数据当做字符串打印到控制台窗口上，在console_task控制台进程主函数中，我们增加了对命令crack的响应，当用户在控制台上输入命令”crack”时，将crack代码加载到内核中运行。上面代码完成后，编译内核，然后用虚拟机将内核加载，系统启动后，我们现在一个控制台中输入hlt，先启动用户进程。然后点击”shift + w”,启动另一个控制台窗口，在其中输入crack，运行crack程序： 接着把点击tab键，把焦点恢复到窗口task_a，然后用鼠标点击运行hlt命令的窗口，把输入焦点切换到该控制台，然后再次点击tab键，把执行权限提交给运行hlt命令的控制台，此时点击回车，介绍用户进程启动的窗口，结果情况如下： 此时我们可以看到，运行hlt命令，执行用户进程的控制台窗口居然输出了字符串”crack”,而这个字符串正是crack.c在执行时，写入地址0x123的字符串。这就意味着一个恶意进程成功修改了另一个进程的内存数据，也相当于一个流氓程序把一只咸猪手伸到其他用户进程的裙底，蹂躏一番后留下了猥琐的证据。 那么如何防范恶意进程对其他程序的非法入侵呢，这就得使用CPU提供的LDT机制，也就是局部描述符表，该机制的使用，我们将在下一节详细讲解。更详细的讲解和代码演示调试，请参看视频： 更详细的讲解和代码调试演示过程，请参看视频 Linux kernel Hacker, 从零构建自己的内核 更多技术信息，包括操作系统，编译器，面试算法，机器学习，人工智能，请关照我的公众号： 本篇文章为转载内容。原文链接：https://blog.csdn.net/tyler_download/article/details/78731905。 该文由互联网用户投稿提供，文中观点代表作者本人意见，并不代表本站的立场。 作为信息平台，本站仅提供文章转载服务，并不拥有其所有权，也不对文章内容的真实性、准确性和合法性承担责任。 如发现本文存在侵权、违法、违规或事实不符的情况，请及时联系我们，我们将第一时间进行核实并删除相应内容。

...back：接收IMU数据，将IMU数据存到imu_msg_buffer中，这里只会利用开头200帧IMU数据进行静止初始化，不做其他处理。featureCallback：接收双目特征，进行后端处理。利用IMU进行EKF Propagation，利用双目特征进行EKF Update。静止初始化(initializeGravityAndBias)：将前200帧加速度和角速度求平均, 平均加速度的模值g作为重力加速度, 平均角速度作为陀螺仪的bias, 计算重力向量(0,0,-g)和平均加速度之间的夹角(旋转四元数), 标定初始时刻IMU系与world系之间的夹角. 因此MSCKF要求前200帧IMU是静止不动的 sudo apt-get install libsuitesparse-devcd ~/catkin_ws/srcgit clone KumarRobotics/msckf_viocd ..catkin_make --pkg msckf_vio --cmake-args -DCMAKE_BUILD_TYPE=Release激活环境变量很关键source /devel/setup.bashroslaunch msckf_vio msckf_vio_euroc.launch注意文件路径rosrun rviz rviz -d rviz/rviz_euroc_config.rviz (改成你自己的rviz文件)rosbag play ~/data/euroc/MH_04_difficult.bag(改成你自己的rosbag文件) 可以看到，s_msckf的输出是没有轨迹的，可以增加如下脚本，将/odom存为/path，在rviz订阅即可可视化轨迹 脚本来自其issue：https://github.com/KumarRobotics/msckf_vio/issues/13 !/usr/bin/env pythonimport rospyfrom nav_msgs.msg import Odometry, Pathfrom geometry_msgs.msg import PoseStampedclass OdomToPath:def __init__(self):self.path_pub = rospy.Publisher('/slz_path', Path, latch=True, queue_size=10)self.odom_sub = rospy.Subscriber('/firefly_sbx/vio/odom', Odometry, self.odom_cb, queue_size=10)self.path = Path()def odom_cb(self, msg):cur_pose = PoseStamped()cur_pose.header = msg.headercur_pose.pose = msg.pose.poseself.path.header = msg.headerself.path.poses.append(cur_pose)self.path_pub.publish(self.path)if __name__ == '__main__':rospy.init_node('odom_to_path')odom_to_path = OdomToPath()rospy.spin() 或者增加一个draw_path的功能包： cpp为： include <stdio.h>include <stdlib.h>include <unistd.h>include <ros/ros.h>include <ros/console.h>include <nav_msgs/Path.h>include <std_msgs/String.h>include <nav_msgs/Odometry.h>include <geometry_msgs/Quaternion.h>include <geometry_msgs/PoseStamped.h>nav_msgs::Path path;ros::Publisher path_pub;ros::Subscriber odomSub;ros::Subscriber odom_raw_Sub;void odomCallback(const nav_msgs::Odometry::ConstPtr& odom){geometry_msgs::PoseStamped this_pose_stamped;this_pose_stamped.header= odom->header;this_pose_stamped.pose = odom->pose.pose;//this_pose_stamped.pose.position.x = odom->pose.pose.position.x;//this_pose_stamped.pose.position.y = odom->pose.pose.position.y;//this_pose_stamped.pose.orientation = odom->pose.pose.orientation;//this_pose_stamped.header.stamp = ros::Time::now();//this_pose_stamped.header.frame_id = "world";//frame_id 是消息中与数据相关联的参考系id，例如在在激光数据中，frame_id对应激光数据采集的参考系 path.header= this_pose_stamped.header;path.poses.push_back(this_pose_stamped);//path.header.stamp = ros::Time::now();//path.header.frame_id= "world";path_pub.publish(path);//printf("path_pub ");//printf("odom %.3lf %.3lf\n",odom->pose.pose.position.x,odom->pose.pose.position.y);}int main (int argc, char argv){ros::init (argc, argv, "showpath");ros::NodeHandle ph;path_pub = ph.advertise<nav_msgs::Path>("/trajectory",10, true);odomSub = ph.subscribe<nav_msgs::Odometry>("/firefly_sbx/vio/odom", 10, odomCallback);//ros::Rate loop_rate(50);while (ros::ok()){ros::spinOnce(); // check for incoming messages//loop_rate.sleep();}return 0;} cmakelists.txt cmake_minimum_required(VERSION 2.8.3)project(draw) Compile as C++11, supported in ROS Kinetic and newer add_compile_options(-std=c++11) Find catkin macros and libraries if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) is used, also find other catkin packagesfind_package(catkin REQUIRED COMPONENTSgeometry_msgsroscpprospystd_msgsmessage_generation)catkin_package( INCLUDE_DIRS include LIBRARIES learning_communicationCATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs message_runtime DEPENDS system_lib) Build include_directories(include${catkin_INCLUDE_DIRS})add_executable(draw_path draw.cpp)target_link_libraries(draw_path ${catkin_LIBRARIES}) package.xml <?xml version="1.0"?><package><name>draw</name><version>0.0.0</version><description>The learning_communication package</description><!-- One maintainer tag required, multiple allowed, one person per tag --><!-- Example: --><!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> --><maintainer email="hcx@todo.todo">hcx</maintainer><!-- One license tag required, multiple allowed, one license per tag --><!-- Commonly used license strings: --><!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 --><license>TODO</license><!-- Url tags are optional, but multiple are allowed, one per tag --><!-- Optional attribute type can be: website, bugtracker, or repository --><!-- Example: --><!-- <url type="website">http://wiki.ros.org/learning_communication</url> --><!-- Author tags are optional, multiple are allowed, one per tag --><!-- Authors do not have to be maintainers, but could be --><!-- Example: --><!-- <author email="jane.doe@example.com">Jane Doe</author> --><!-- The _depend tags are used to specify dependencies --><!-- Dependencies can be catkin packages or system dependencies --><!-- Examples: --><!-- Use build_depend for packages you need at compile time: --><!-- <build_depend>message_generation</build_depend> --><!-- Use buildtool_depend for build tool packages: --><!-- <buildtool_depend>catkin</buildtool_depend> --><!-- Use run_depend for packages you need at runtime: --><!-- <run_depend>message_runtime</run_depend> --><!-- Use test_depend for packages you need only for testing: --><!-- <test_depend>gtest</test_depend> --><buildtool_depend>catkin</buildtool_depend><build_depend>geometry_msgs</build_depend><build_depend>roscpp</build_depend><build_depend>rospy</build_depend><build_depend>std_msgs</build_depend><run_depend>geometry_msgs</run_depend><run_depend>roscpp</run_depend><run_depend>rospy</run_depend><run_depend>std_msgs</run_depend><build_depend>message_generation</build_depend><run_depend>message_runtime</run_depend><!-- The export tag contains other, unspecified, tags --><export><!-- Other tools can request additional information be placed here --></export></package> vins_fusion: 双目vio等多系统 mkdir -p vins-catkin_ws/srccd vins-catkin_ws/srcgit clone https://github.com/HKUST-Aerial-Robotics/VINS-Fusion.gitcd ..catkin_makesource devel/setup.bash按照readme 3.1 Monocualr camera + IMUroslaunch vins vins_rviz.launchrosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml (optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_mono_imu_config.yaml rosbag play YOUR_DATASET_FOLDER/MH_01_easy.bag 3.2 Stereo cameras + IMUroslaunch vins vins_rviz.launchrosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml (optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml rosbag play YOUR_DATASET_FOLDER/MH_01_easy.bag 3.3 Stereo camerasroslaunch vins vins_rviz.launchrosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml (optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_config.yaml rosbag play YOUR_DATASET_FOLDER/MH_01_easy.bag<img src="https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/blob/master/support_files/image/euroc.gif" width = 430 height = 240 /> 4. KITTI Example 4.1 KITTI Odometry (Stereo)Download [KITTI Odometry dataset](http://www.cvlibs.net/datasets/kitti/eval_odometry.php) to YOUR_DATASET_FOLDER. Take sequences 00 for example,Open two terminals, run vins and rviz respectively. (We evaluated odometry on KITTI benchmark without loop closure funtion)roslaunch vins vins_rviz.launch(optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/kitti_odom/kitti_config00-02.yamlrosrun vins kitti_odom_test ~/catkin_ws/src/VINS-Fusion/config/kitti_odom/kitti_config00-02.yaml YOUR_DATASET_FOLDER/sequences/00/ 4.2 KITTI GPS Fusion (Stereo + GPS)Download [KITTI raw dataset](http://www.cvlibs.net/datasets/kitti/raw_data.php) to YOUR_DATASET_FOLDER. Take [2011_10_03_drive_0027_synced](https://s3.eu-central-1.amazonaws.com/avg-kitti/raw_data/2011_10_03_drive_0027/2011_10_03_drive_0027_sync.zip) for example.Open three terminals, run vins, global fusion and rviz respectively. Green path is VIO odometry; blue path is odometry under GPS global fusion.roslaunch vins vins_rviz.launchrosrun vins kitti_gps_test ~/catkin_ws/src/VINS-Fusion/config/kitti_raw/kitti_10_03_config.yaml YOUR_DATASET_FOLDER/2011_10_03_drive_0027_sync/ rosrun global_fusion global_fusion_node<img src="https://github.com/HKUST-Aerial-Robotics/VINS-Fusion/blob/master/support_files/image/kitti.gif" width = 430 height = 240 /> 5. VINS-Fusion on car demonstrationDownload [car bag](https://drive.google.com/open?id=10t9H1u8pMGDOI6Q2w2uezEq5Ib-Z8tLz) to YOUR_DATASET_FOLDER.Open four terminals, run vins odometry, visual loop closure(optional), rviz and play the bag file respectively. Green path is VIO odometry; red path is odometry under visual loop closure.roslaunch vins vins_rviz.launchrosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/vi_car/vi_car.yaml (optional) rosrun loop_fusion loop_fusion_node ~/catkin_ws/src/VINS-Fusion/config/vi_car/vi_car.yaml rosbag play YOUR_DATASET_FOLDER/car.bag 本篇文章为转载内容。原文链接：https://blog.csdn.net/slzlincent/article/details/104364909。 该文由互联网用户投稿提供，文中观点代表作者本人意见，并不代表本站的立场。 作为信息平台，本站仅提供文章转载服务，并不拥有其所有权，也不对文章内容的真实性、准确性和合法性承担责任。 如发现本文存在侵权、违法、违规或事实不符的情况，请及时联系我们，我们将第一时间进行核实并删除相应内容。

...《中国劳动统计年鉴》数据显示，我国40-59岁劳动力人口占比逐年上升，他们在面临新兴技术冲击、行业变革的同时，还要应对来自年轻一代的竞争压力。 《人民日报》曾发表一篇深度报道，聚焦中年职场转型与再发展问题，报道指出，在数字化时代背景下，中年人应主动拥抱变化，通过不断学习新技术、新知识，更新自身技能树，并积极参与职业培训和继续教育，拓宽职业发展空间。 此外，据LinkedIn（领英）发布的《中国人才趋势报告》显示，企业对具备跨界能力、持续学习力以及深厚行业经验的中高级人才需求不减反增。这进一步印证了文章中的观点：无论年龄大小，职场人士都需要设立明确目标，增强执行力，并懂得投资自己，通过不断学习实现职业生涯的可持续发展。 同时，心理学专家也强调，保持积极心态是中年人应对职场挑战的关键要素之一。正如美国心理学家卡罗尔·德韦克提出的“成长思维模式”，鼓励人们以开放的态度看待困难和挑战，相信能力可以通过努力得以提升，这对于中年职场人士打破现状、激发潜力具有深远意义。 综上所述，面对日新月异的社会变迁和职场环境，中年群体需树立长期职业规划意识，提高实际行动力，强化个人核心竞争力，并始终保持与时俱进的学习态度和积极进取的心态，以此来应对职业道路上的各种挑战，实现职业生涯的二次腾飞。

...具有服务器身份验证和数据传输加密功能 在爬虫时可能会遇到这样的报错（SSLError）这说明我们要爬取的网站没有SSL证书 处理：res = requests.get(url,verify=False) 二、cookie 通过记录用户信息来确定身份 1 模拟登陆 人人网保持登陆状态import requestsurl = 'http://www.renren.com/976686556/profile' 个人主界面headers = {'User-Agent': 'Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/89.0.4389.128 Safari/537.36','Cookie':'anonymid=knvqe21amc6ghy; depovince=ZGQT; _r01_=1; taihe_bi\_sdk_uid=c2bd353cea6830a73eb74760fbc9fd5c; taihe_bi_sdk_session=9a91c\62f18e74ee26c3145bb49b4eb9e; ick_login=286c45d0-e571-4fb7-918a-46a9706\18110; first_login_flag=1; ln_uact=17315371375; ln_hurl=http://head.xiao\nei.com/photos/0/0/men_main.gif; wp_fold=0; jebecookies=ee811760-7bc0-43a9-\883c-0d041cb1baf0|||||; _de=A4C6B1A20CD5F525F9DA27654C2D2FDA; p=f5239823cd0af743a5f015652568b6036; t=42783075a815b6cef9f651ca18ff5c166; societyguester=42783075a815b6cef9f651ca18ff5c166; id=976686556; xnsid=f72459d7; ver=7.0; loginfrom=null'}res = requests.get(url,headers=headers) res 响应对象 html = res.textwith open('rr.html','w',encoding='utf-8') as file_obj:file_obj.write(res.text) 2 反反爬机制 12306查票import requests import json json.loads -- json类型的str -> python类型的字典def query():headers = {'User-Agent': 'Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/89.0.4389.128 Safari/537.36','Cookie':'_uab_collina=159490169403897938828076; JSESSIONID=090F384AC50BE0F1AFA3892BE3F6DBE9; _jc_save_wfdc_flag=dc; _jc_save_fromStation=%u957F%u6C99%2CCSQ; _jc_save_toStation=%u5317%u4EAC%2CBJP; RAIL_DEVICEID=bbXqzYOPTc-SPgujxnGkCBr9t3sq0JQoMSYUdg-FxjyQ5IkfcPCNoreXmBAIh2HSrM9Z9awDR5onIQwy4EZ8pAhaGXWYBAH6etIlFc4dyxLudz525GAcRgVX5HLIxOE1orODUNSb9wvTBAJptPms1z5Pz5K6FXES; RAIL_EXPIRATION=1619479086609; _jc_save_toDate=2021-04-23; BIGipServerpool_passport=182714890.50215.0000; route=6f50b51faa11b987e576cdb301e545c4; _jc_save_fromDate=2021-04-26; BIGipServerportal=3067347210.16671.0000; BIGipServerotn=1725497610.50210.0000'}response = requests.get('https://kyfw.12306.cn/otn/leftTicket/query?leftTicketDTO.train_date=2021-\04-26&leftTicketDTO.from_station=CSQ&leftTicketDTO.to_station=BJP&purpose_codes=ADULT',headers=headers) print(response.content.decode('utf-8'))return response.json()['data']['result']for i in query(): print(i)tem_list = i.split('|') 定义一个标记 给每个数据做个标记 j = 0 技术特别 for n in tem_list: print(j,n) j += 1 通过以上的测试我们知道了 列出是下标索引为3的数据 软卧是下标索引为23的数据if tem_list[23] != '无' and tem_list[23] != '':print(tem_list[3],'有票',tem_list[23])else:print(tem_list[3],'无票') 三、session Session与cookie功能效果相同。Session与Cookie的区别在于Session是记录在服务端的，而Cookie是记录在客户端的。 由于cookie 是存在用户端，而且它本身存储的尺寸大小也有限，最关键是用户可以是可见的，并可以随意的修改，很不安全。那如何又要安全，又可以方便的全局读取信息呢？于是，这个时候，一种新的存储会话机制：session 诞生了 突破12306验证码import requestsreq = requests.session() 保持会话def login(): 笔记本 win7 python3.6 获取验证码图片pic_response = req.get('https://kyfw.12306.cn/passport/captcha/captcha-image?login_site=E&module=login&rand=sjrand')codeImage = pic_response.contentfn = open('code2.png','wb')fn.write(codeImage)fn.close() 从验证码图片的左上角 (0,0)codeStr = input('请输入验证码坐标:')headers = {'User-Agent': 'Mozilla/5.0 (Windows NT 10.0; Win64; x64) AppleWebKit/537.36 (KHTML, like Gecko) Chrome/89.0.4389.128 Safari/537.36'}data = {'answer': codeStr,'rand': 'sjrand','login_site': 'E'}response = req.post('https://kyfw.12306.cn/passport/captcha/captcha-check',data=data,headers=headers)print(response.text)login() base64伪加密 根本不算是一种加密算法 只不过它的数据看上去更像密文而已 64个字符来表示任意的二进制数据的方法 使用 A-Z A-Z 0 - 9 + / 这64个字符进行加密 import base64url = '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'img_data = base64.b64decode(url) 返回的是二进制数据print(type(img_data))fn = open('code.png','wb')fn.write(img_data)fn.close()'''我们打开了一个有base64加密的图片数据''' 本篇文章为转载内容。原文链接：https://blog.csdn.net/httpsssss/article/details/116136614。 该文由互联网用户投稿提供，文中观点代表作者本人意见，并不代表本站的立场。 作为信息平台，本站仅提供文章转载服务，并不拥有其所有权，也不对文章内容的真实性、准确性和合法性承担责任。 如发现本文存在侵权、违法、违规或事实不符的情况，请及时联系我们，我们将第一时间进行核实并删除相应内容。