Oleg Sinavski olegsinavski
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| #define REQUIRE( ... ) \ | |
| do { \ | |
| if( !( __VA_ARGS__ ) ) { \ | |
| std::stringstream ss; \ | |
| ss << "Unit test assert [ " \ | |
| << ( #__VA_ARGS__ ) \ | |
| << " ] failed in line [ " \ | |
| << __LINE__ \ | |
| << " ] file [ " \ | |
| << __FILE__ << " ]" \ |
olegsinavski
/ gist:502af97928c26b28f6ec45ed7c305904
Created
November 26, 2019 18:09
Profile numpy version onliner array 180
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| import numpy as np | |
| from shining_software.utilities.profiling_utils import profiler | |
| print(np.__version__) | |
| with profiler(enable=True): | |
| size = 180 | |
| for i in range(1000000): |
olegsinavski
/ gist:51a293fcb05ad03004e6d3e50113cb5e
Last active
November 8, 2019 18:21
Compile opencv 3.3.1 on tx2
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| #!/usr/bin/env bash | |
| echo "Install requirement" | |
| # sudo apt-get install -y build-essential cmake git libgtk2.0-dev pkg-config libavcodec-dev libavformat-dev libswscale-dev | |
| # sudo apt-get install -y libgstreamer1.0-dev libgstreamer-plugins-base1.0-dev | |
| # sudo apt-get install libjpeg-dev libpng-dev libtiff-dev libjasper-dev libdc1394-22-dev | |
| # sudo apt-get install libv4l-dev v4l-utils qv4l2 v4l2ucp | |
| # sudo apt-get install -y curl | |
| # sudo apt-get update |
olegsinavski
/ gist:291fe311854f2870a180c8fb765eb891
Created
January 4, 2019 22:50
Run RL wtih openai baselines
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| import baselines.common.cmd_util as butils | |
| import baselines.ppo2.ppo2 as ppo | |
| import gym | |
| import bc_gym_planning_env | |
| if __name__ == '__main__': | |
| # https://github.com/openai/baselines | |
| env = butils.make_vec_env( | |
| env_id='EgoCostmapAsImgRandomTurnRoboPlanning-v0', | |
| env_type='robo_planning', |
olegsinavski
/ gist:5f01dd05ff767053d289b2cba3d2da41
Created
December 18, 2018 00:10
Fleet analysis of odometry problems
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| Warning sessions | |
| 57770331-90fe-4bd6-aadf-b13085e25a7b_session_v12.tar.xz machine=8ec18dee-f3d4-491d-b92b-aa99ed54bf1e [OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 0.31%] dur=30min env=offices comment:Ok (office) | |
| 529d95da-b905-4a01-993b-a7576b9b6617_session_v14.tar.xz machine=dc6312a7-2ede-4a21-8416-922b5fd75ad7 [OdometryQualityCode.STEERING_ENCODER_JUMPS: Steering encoder jumps or is stuck (16x)] dur=46min env=wallmart comment:Ok (large one shot) | |
| afa85daa-b898-483a-82ec-218bf91bbbd8_session_v11.tar.xz machine=8d437ff1-a099-4d2f-b5db-0544dc56309c [OdometryQualityCode.MANY_GYRO_ENCODER_ERRORS: Error ratio: 0.24%] dur=29min env=wallmart comment:Ok (warehouse) | |
| 3de1f842-b341-495e-a87d-5f186e601922_session_v12.tar.xz machine=4e8c725b-3499-4792-aac3-5d54a0f4c3a6 [OdometryQualityCode.LARGE_GYRO_NOISE: Large noise in gyro (6x)] dur=13min env=simon_malls comment:Ok | |
| ef835a33-55c9-4abc-89dc-7343b51d88b9_session_v15.tar.xz machine=UNKNOWN [OdometryQualityCode.LARGE_TRANSIENT_ENCODER_BIAS: Large transient bi |
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| # Perform sensory fusion and generate 3d obstacle map using depth, RGB cameras, lidars | |
| # and SLAM outputs | |
| obstacle_signals = self._costmap_generator.generate_costmap( | |
| planar_scans=layer_observations.planar_scans, | |
| voxel_scans=layer_observations.voxel_scans, | |
| depth_observations=layer_observations.depth_observations, | |
| point_cloud_observations=layer_observations.point_cloud_observations, | |
| camera_observations=layer_observations.camera_observations, | |
| robot_state_observations=layer_observations.robot_state_observations, | |
| current_time=self._last_added_observation_timestamp, |
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| filename = bc_artifacts.get( | |
| key=pickled_file_key, | |
| progress_callback=bc_artifacts.artifacts.indicate_download_progress, | |
| bucket_name='shining-replay-data', | |
| progress_callback_granularity=5) |
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| filename = bc_artifacts.get(key=pickled_file_key, progress_callback=bc_artifacts.artifacts.indicate_download_progress, bucket_name='shining-replay-data', progress_callback_granularity=5) |
olegsinavski
/ gist:05065a4f5fcf378312dbb1c567135049
Created
July 11, 2017 23:41
Fit Student-t and normal distribution in python
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| import scipy | |
| import scipy.stats | |
| plt.hist(noise, bins=100, normed=1) | |
| x = np.linspace(-0.2, 0.2, len(noise)) | |
| dist_names = ['norm', 't'] | |
| for dist_name in dist_names: | |
| dist = getattr(scipy.stats, dist_name) | |
| param = dist.fit(noise) | |
| pdf_fitted = dist.pdf(x, *param[:-2], loc=param[-2], scale=param[-1]) |
olegsinavski
/ gist:6277816
Created
August 20, 2013 06:42
ROS resource_retriever mac os build failure
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| ==> Processing catkin package: 'resource_retriever' | |
| ==> Building with env: '/Users/olegsinyavskiy/ros_catkin_ws/install_isolated/env.sh' | |
| Makefile exists, skipping explicit cmake invocation... | |
| ==> make cmake_check_build_system in '/Users/olegsinyavskiy/ros_catkin_ws/build_isolated/resource_retriever' | |
| ==> make -j4 -l4 in '/Users/olegsinyavskiy/ros_catkin_ws/build_isolated/resource_retriever' | |
| Linking CXX shared library /Users/olegsinyavskiy/ros_catkin_ws/devel_isolated/resource_retriever/lib/libresource_retriever.dylib | |
| ld: warning: ignoring file /Library/Frameworks//libcurl.framework/libcurl, missing required architecture x86_64 in file /Library/Frameworks//libcurl.framework/libcurl (2 slices) | |
| Undefined symbols for architecture x86_64: | |
| "_curl_easy_cleanup", referenced from: | |
| resource_retriever::Retriever::~Retriever() in retriever.cpp.o |