HViktorTsoi’s gists

HViktorTsoi / add_xhost_privilege.sh

Last active September 25, 2024 17:33

Solve error: "This application failed to start because no Qt platform plugin could be initialized, Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb."

	# Error imformation:

	# No protocol specified
	# qt.qpa.xcb: could not connect to display unix:0
	# qt.qpa.plugin: Could not load the Qt platform plugin "xcb" in "" even though it was found.
	# This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.
	# Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.

	# Soultion:
	xhost +si:localuser:root

HViktorTsoi / axis_decimal_decimal.py

Created March 10, 2024 15:19

Matplotlib, set decimal format of axis

	import matplotlib.pyplot as plt
	import matplotlib.ticker as mtick

	plt.gca().yaxis.set_major_formatter(mtick.FormatStrFormatter('%.2f'))

HViktorTsoi / multicolor_legend.py

Created March 1, 2024 17:27

Matplotlib multicolor legend

	import numpy as np
	import matplotlib.pyplot as plt
	from matplotlib.legend_handler import HandlerLineCollection, HandlerNpoints, HandlerBase, HandlerLine2D, HandlerTuple

	plot1 = plt.plot([3, 2, 1], [1, 2, 3])
	plot2 = plt.plot([1, 2, 3], [3, 2, 1])

	multi_color_line = tuple(
	[plt.plot([0, 0, 0], color=plt.get_cmap('rainbow')(v)[:3])[0] for v in np.linspace(0.0, 1.0, 5)])
	l = plt.legend([multi_color_line, plot1[0], plot2[0]], ['Multiple color 0', 'Color1', 'Color2'],

HViktorTsoi / get_rosbag_working_dir.py

Created August 22, 2023 14:29

Get the working dir of current rosbag process

	import subprocess
	def get_process_cwd(process_name):
	try:
	pid = subprocess.check_output(['pgrep', '-f', process_name]).decode('utf-8').strip().split('\n')[0]
	cwd = subprocess.check_output(['pwdx', pid]).decode('utf-8').strip().split(" ")[-1]
	return cwd
	except subprocess.CalledProcessError:
	return None

HViktorTsoi / AddNoiseToOdometry.py

Created June 15, 2023 06:52

Add accumulated noise to odometry estimation.

	def odom_add_noise(poses_poor):
	ts_list = []
	pose_list = []
	for key, pose in sorted(poses_poor.items()):
	ts_list.append(key)
	pose_list.append(pose)

	velocity_integration = []
	for idx in range(1, len(pose_list)):
	velocity_integration.append(U.INV(pose_list[idx - 1]) @ pose_list[idx])

HViktorTsoi / slerp.py

Created May 15, 2023 22:57

Linear Pose Interpolation

	def trajectory_slerp(evaluate_times, traj_raw_times, traj_raw, order=3):
	"""
	linear interpolation trajectory
	:param evaluate_times: A list of float, the timestamps list at which to evaluate the interpolated poses.
	:param traj_raw_times: A list of float, the timestamps list of the input sparse poses
	:param traj_raw: A list of np[4x4] matrix, the SE3 matrices of the input sparse poses
	:param order: The degree of the spline fit
	:return:
	"""
	assert len(traj_raw_times) == len(traj_raw)

HViktorTsoi / GTO.py

Created April 21, 2023 07:48

hilti2022 experiment

	import copy
	import time

	import open3d as o3d
	import os
	from collections import defaultdict
	import numpy as np
	import numpy.linalg as LA
	import gtsam
	import tqdm

HViktorTsoi / oh-my-zsh-domestic.sh

Created April 26, 2022 11:21

	#!/bin/sh
	#
	# This script should be run via curl:
	# sh -c "$(curl -fsSL https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)"
	# or via wget:
	# sh -c "$(wget -qO- https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)"
	# or via fetch:
	# sh -c "$(fetch -o - https://raw.githubusercontent.com/ohmyzsh/ohmyzsh/master/tools/install.sh)"
	#
	# As an alternative, you can first download the install script and run it afterwards:

HViktorTsoi / numba_2d_np_array.py

Created April 15, 2022 13:55

numba 2d numpy array signature

@nb.njit(nb.float64[:, :](nb.float64[:, :], nb.float32))

HViktorTsoi / BLH2XYZ.py

Created March 22, 2022 11:22

BLU coord to XYZ coord.


	def BLH2XYZ(B, L, H):
	'''B: lat L:lon H: height'''
	Lat, Lon = B, L

	N, E, h = 0, 0, 0
	L0 = (int((L - 1.5) / 3.0) + 1) * 3.0 #

	a = 6378245.0 #
	F = 298.257223563 #

KINO HViktorTsoi