tomas789’s gists

tomas789 / tonav_results_orig.csv

Last active May 31, 2018 09:14

	V2_02_medium (20 FPS)	V2_03_difficult (20 FPS)	V2_02_medium (10 FPS)	V2_03_difficult (10 FPS)
Frame rate	20 FPS	20 FPS	10 FPS	10 FPS
Simulation time	80 s	80 s	80 s	80 s
Execution time	115.19 s	80.71 s	57.16 s	41.14 s
Real-time factor	0.69	0.99	1.40	1.94
RMSE	0.8277 m	0.9524 m	0.5909 m	0.4650 m
Final error	1.278 m (2.20 %TTD)	1.628 m (2.80 %TTD)	0.920 m (1.58 %TTD)	0.822 m (1.412 %TTD)

tomas789 / gist:ec223f9c690b78b66e5f7b02958f693f

Last active October 31, 2017 15:25

	include Makefile.vars

	all: \
	reconstruction_global/ok.txt \
	reconstruction_incremental/ok.txt

	exports: \
	export_keypoints \
	export_matches \

tomas789 / PtGrayCamera.cpp

Created July 6, 2017 10:25

	//
	// PtGrayCamera.hpp
	// PtGrey
	//

	#ifndef PtGrayCamera_hpp
	#define PtGrayCamera_hpp

	#include <dc1394/dc1394.h>
	#include <stdexcept>

tomas789 / README.md

Last active May 29, 2024 15:13

OpenCV <-> Objective-C++ (UIImage) conversion

OpenCV -> UIImage

cv::Mat mat /* = ... */;
UIImage* image = [UIImage fromCvMat:mat];

UIImage -> OpenCV

tomas789 / calibration.yaml

Created October 2, 2016 06:32

Sample camera calibration file for tonav (https://github.com/tomas789/tonav)

	#--------------------------------------------------------------------------------------------
	# Camera Parameters. Adjust them!
	#--------------------------------------------------------------------------------------------

	# Camera calibration and distortion parameters (OpenCV)
	Camera.fx: 528.52949934564765
	Camera.fy: 528.52949934564765
	Camera.cx: 319.5
	Camera.cy: 239.5

tomas789 / gist:10915069

Created April 16, 2014 18:07

C++/C++11 Variadic template CSV parser. Supports quoted strings, custom parsers, strongly typed, STL-like, generic, fast, highly customizable.

	#include <functional>
	#include <fstream>
	#include <iostream>
	#include <limits>
	#include <sstream>
	#include <tuple>
	#include <vector>

	template <typename ... TList>
	struct DefaultParsersTuple;

tomas789 / llvmfcs.cpp

Created December 28, 2013 19:39

Dump functions from LLVM's bc file Compile: clang++-mp-3.3 `llvm-config-mp-3.3 --cxxflags --ldflags --libs core jit X86 bitreader` -std=c++0x -o llvmfcs llvmfcs.cpp Usage: llvmfcs filename.bc

	#include <iostream>
	#include <string>

	#include <llvm/ADT/OwningPtr.h>
	#include <llvm/Bitcode/ReaderWriter.h>
	#include <llvm/IR/LLVMContext.h>
	#include <llvm/IR/Module.h>
	#include <llvm/Support/MemoryBuffer.h>
	#include <llvm/Support/system_error.h>

tomas789 / jit2.cpp

Created December 28, 2013 18:42

Another LLVM JIT - Loading variable from memory clang++-mp-3.3 `llvm-config --cppflags --ldflags --libs core jit X86` jit2.cpp

	#include <iostream>
	#include <cstdint>
	#include <string>

	#include "llvm/ExecutionEngine/JIT.h"
	#include "llvm/IR/IRBuilder.h"
	#include "llvm/IR/Module.h"
	#include "llvm/PassManager.h"
	#include "llvm/Support/TargetSelect.h"
	#include "llvm/Analysis/Verifier.h"

tomas789 / jit.cpp

Created December 28, 2013 17:57

LLVM JIT Example - Example of very simple JIT using LLVM. It compiles function with prototype `int64_t()` returning value `765`. Build: clang++ `llvm-config --cppflags --ldflags --libs core jit X86` jit.cpp

	#include <iostream>
	#include <cstdint>
	#include <string>

	#include "llvm/ExecutionEngine/JIT.h"
	#include "llvm/IR/IRBuilder.h"
	#include "llvm/IR/Module.h"
	#include "llvm/PassManager.h"
	#include "llvm/Support/TargetSelect.h"
	#include "llvm/Analysis/Verifier.h"

tomas789 / gist:7844152

Created December 7, 2013 15:46

Template-based Visitor pattern implementation in C++ PS: Even more generic version. Notice that actual visitor class have non-virtual methods. This allows to have them templated.

	#include <iostream>
	#include <utility>

	template <typename ... Types>
	class Visitor;

	template <typename T>
	class Visitor<T> {
	public:
	virtual void visit(T & visitable) = 0;

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