Rico's Nerd Cluster

「离开世界之前 一切都是过程」

Virtual Network Computing (VNC)

Graphical Desktop Environment

What is vncviewer vncviewer (virtual network computing) client allows one to interact with a remote computer’s graphical desktop environment. It’s run inside the docker. vncviewer Setup File Dir...

Things About Leetcode Before That Coding Interview

Leetcode IDE Tips, Common Leetcode Problems, C++ Commands, String

Introduction At the bare minimum, it’s good to have a solid understanding of 2 Pointers, sliding window, BFS/DFS, Trees, Graphs, Stacks, Queus, Hash Maps. Leetcode IDE Tips No Global Variables ...

Robotics - [2D SLAM 1] Hands-On Mapping

Point-Point ICP, Point-Line ICP

🧪 Loop Detection Testing Procedure Phase 1: Baseline Verification (No Loop Closure) Objective: Confirm that submaps are constructed correctly before enabling loop closure. Steps: Disable loo...

Robotics - Gauss Newton (GN) and Levenberg Marquardt (LM) Optimizers

Newton's Method, GN, LM optimizers

Newton’s Method Solving An Equation To find an arbitrary equation’s root $f(x) = 0$, We start from an arbitrary point $x_0$ that’s hopefully close to the solution, $x_s$ The main idea of Ne...

Robotics - [2D SLAM 2] Map Generation

Submap Generation

Submap Generation In modern robotics mapping systems, efficient environment representation and robust localization are achieved by dividing the map into smaller, manageable submaps. Each submap is...

Robotics - [2D SLAM 1] Introduction and Scan Matching

Point-Point ICP, Point-Line ICP

Introduction The assumption of a robot moving on a 2D plane is a strong one. However, many indoor robots do have support an assumption. Maps in this case can simply be interpreted as an image. Low...

Robotics - Point Cloud Processing and KNN Problem

Bruteforce KNN Search, KD Tree, OctoTree

Overview Here is a post about the LiDAR Working Principle and different types of LiDARs. One lidar model is the Range-Azimuth-Elevation model (RAE) Its ...

C++ - Datastructures

Priority Queue

std::priority_queue (Priority Queue, or Max-Heap) 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 #include <iostream> #include <...

Point Cloud Library

Point Infrastructure Point Cloud Members PointCloud Type includes points: point vector PointTypes PointType include: pcl::PointXYZ pcl::PointXYZI pcl::PointXYZRGB pcl::PointXYZRGB...

ROS Infrastructure Notes

A Running List of ROS Infrastructure I found Useful

ROS Actions The ROS Action really is a mechanism that keeps track of the exeuction state of a task. ROS Actions are built on top of ROS topics. Lifetime of ROS Actions Pending : The goal...