JackyLiu HTLife

Visual SLAM researcher 即時定位與地圖構建スラム

HTLife / gist:af5b26744f17985ba52320f66eb874f4

Created June 9, 2020 08:29

cartographer_rosbag_validate

	rosrun cartographer_ros cartographer_rosbag_validate -bag_filename example.bag

	rosrun cartographer_ros cartographer_rosbag_validate -bag_filename /root/Downloads/example.bag
	W0609 08:13:02.642072 3306 rosbag_validate_main.cc:166] Sensor with frame_id "lidar_2d_front" measurements overlap in time. Previous range message, ending at time stamp 637182091821391433, must finish before current range message, which ranges from 637182091821374868 to 637182091821485979
	W0609 08:13:02.646579 3306 rosbag_validate_main.cc:203] Sensor with frame_id "lidar_2d_front" range measurements have longest overlap of 0.0016565 s
	I0609 08:13:02.646610 3306 rosbag_validate_main.cc:398] Time delta histogram for consecutive messages on topic "/laser_scan" (frame_id: "lidar_2d_front"):
	Count: 1612 Min: 0.009455 Max: 0.040663 Mean: 0.025044
	[0.009455, 0.012575) Count: 1 (0.062035%) Total: 1 (0.062035%)
	[0.012575, 0.015696) Count: 0 (0.000000%) Total: 1 (0.062035%)
	[0.01569

HTLife / commit-msg

Created April 3, 2020 05:58

prepend JIRA ticket prefix to git commit message

	#!/bin/sh

	# Add git branch if relevant
	parse_git_branch() {
	git branch 2> /dev/null \| sed -e '/^[^]/d' -e 's/ \(.*\)/(\1)/'
	}

	# Extact tracker abbreviation and ticket number (e.g. DS-123)
	parse_git_tracker_and_ticket() {
	parse_git_branch \| grep -e '[A-Z]\+-[0-9]\+' -o

HTLife / CMakeLists.txt

Last active August 8, 2019 05:28

LeetCode 771 execution time comparison

	cmake_minimum_required(VERSION 3.14)
	project(prac_closure)

	set(CMAKE_CXX_STANDARD 17)

	add_executable(prac_closure main.cpp)

HTLife / convert_kitti_bin_to_pcd.py

Created February 11, 2019 11:46

Convert KITTI velodyne bin to open3d pcd

	import numpy as np
	import struct
	from open3d import *

	def convert_kitti_bin_to_pcd(binFilePath):
	size_float = 4
	list_pcd = []
	with open(binFilePath, "rb") as f:
	byte = f.read(size_float * 4)
	while byte:

HTLife / gist:f4f280c3257267d38c540e2648339b31

Created October 22, 2018 14:40

	<!DOCTYPE html>
	<meta charset="utf-8">
	<style>

	form {
	font-family: "Helvetica Neue", Helvetica, Arial, sans-serif;
	position: absolute;
	left: 10px;
	top: 10px;
	}

HTLife / dark.txsprofile

Created June 13, 2018 13:53

	[formats]
	version=1.0
	data\normal\priority=-1
	data\normal\bold=false
	data\normal\italic=false
	data\normal\overline=false
	data\normal\underline=false
	data\normal\strikeout=false
	data\normal\waveUnderline=false
	data\normal\foreground=#f8f8f2

HTLife / ga.R

Created May 8, 2018 04:12

GA with R

	#R version 3.3.2


	set.seed(10)

	N_size = 20
	N_bit = 8
	Gen = 50
	mut_freq = 0.1
	Population = matrix(sample(c(0,1), size=N_size*N_bit, replace=TRUE), N_size, N_bit)

HTLife / install.sh

Created May 7, 2018 14:25

tmux mouse mode installation script

	git clone https://github.com/nhdaly/tmux-better-mouse-mode ~/.tmux
	echo 'set-option -g mouse on' >> ~/.tmux.conf
	echo 'run-shell ~/.tmux/scroll_copy_mode.tmux' >> ~/.tmux.conf
	tmux source-file ~/.tmux.conf

HTLife / .tmux.conf

Created April 17, 2018 06:55

tmux conf

	Put this at the bottom of .tmux.conf:

	# List of plugins
	set -g @plugin 'tmux-plugins/tpm'
	set -g @plugin 'tmux-plugins/tmux-sensible'
	set -g @plugin 'nhdaly/tmux-better-mouse-mode'
	# Other examples:
	# set -g @plugin 'github_username/plugin_name'
	# set -g @plugin '[email protected]/user/plugin'
	# set -g @plugin '[email protected]/user/plugin'

HTLife / cnn_lstm.py

Last active March 25, 2018 13:57

MNIST CNNs + LSTM

	# pytorch mnist cnn + lstm

	from __future__ import print_function
	import argparse
	import torch
	import torch.nn as nn
	import torch.nn.functional as F
	import torch.optim as optim
	from torchvision import datasets, transforms
	from torch.autograd import Variable