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More On Motion Estimation

5 Point Algorithm, How to solve DLT, and 8 point algorithm

Why Do We Still Need Multi-View Geometry, In 2024? LLMs are everywhere now. However, they are rarely seen in 3D scene reconstruction except for those on depth learning from single images. Dong et ...

Posted by Rico's Nerd Cluster on July 5, 2024

Motion Estimation From Epipolar Constraints

This is an Introduction of Epipolar Constraints and 2D-2D Motion Estimation

Intro This blog is inspired by this great great book: 14 Lectures in Visual SLAM, authored by Dr. Gao Xiang et al. This article will walk you through 8-point algorithm when features lie on differe...

Posted by Rico's Nerd Cluster on July 4, 2024

Copying Docker Images to Another Machine

local registry + SSH reverse tunnel

Why Not docker save? docker save can deadlock or hang when the image is stored in the containerd image store (shows 0B in docker images). This is caused by futex contention in Go’s goroutine-based...

Posted by Rico's Nerd Cluster on June 16, 2024

Dockerd and Linux Futex

How Docker uses containerd, and how Linux futex works

Containerd containerd is the low-level container runtime that Docker uses under the hood. It manages image storage, pulling images, unpacking layers, and container lifecycle. For example, docker p...

Posted by Rico's Nerd Cluster on June 10, 2024

Docker Compose Profile

Multi-Container Workflow

Simple Example On Docker Profile Profiles help you adjust your Compose application for different environments or use cases by selectively activating services. Services can be assigned to one or mo...

Posted by Rico's Nerd Cluster on June 10, 2024

Docker Ignore

A .dockerignore file lives next to your Dockerfile and controls which files are excluded from the Docker build context. Why use .dockerignore? ✅ Faster builds: smaller context → quic...

Posted by Rico's Nerd Cluster on June 7, 2024

Docker Workflow And Networking

VSCode Devcontainer

Pulling Containers & Networking When you run a container for the first time, Docker pulls the image and sets up networking based on defaults or your configuration. Bridge Networks (docker0) ...

Posted by Rico's Nerd Cluster on June 5, 2024

Autonomous Vehicle Introduction

General Project Flow What the robot sees - Perception localization + mapping Navigation - Motion Planning Planning + control Autonomy Levels from SAE (Society of Automotive Engineers) ...

Posted by Rico's Nerd Cluster on June 4, 2024

Computation Tools - Eigen Expression Templates and SIMD

Fused Computation

Eigen Expression Template. Optimization Impact: ⭐️⭐⭐️️⚪⚪ Expression templates are one of those “powerful but mysterious” C++ features that libraries like Eigen, Blaze, and even TensorFlow (C++) us...

Posted by Rico's Nerd Cluster on May 11, 2024

Computation Tools - OpenCV, PCL, PCD, NanoFLANN

A Running List of Computer Vision Tools

OpenCV Image Processing cv::Mat Create a cv::Mat In C++: 1 2 3 4 5 6 7 8 // method 1 cv::Mat(another_mat); // method 2 cv::Mat A = (cv::Mat_<uchar>(1,2)<<1,2); //CV_8U // method ...

Posted by Rico's Nerd Cluster on May 9, 2024

Rico's Nerd Cluster