Rico贾若童的博客

[ML] -Point-cloud-compression-2-FPFH-Features

Other Alternatives Chamfer distance Earth Mover’s Distance (EMD) Normal consistency loss Curvature loss Learned feature-space loss (via PointNet / DGCNN embeddings) What is FPFH FPFH...

Posted by Rico's Nerd Cluster on January 8, 2025

Robotics - Waveshare Rover Configuration

ROS2, Waveshare

Base Connection Turn on the rover Connect to the rover’s hotspot Connect to UGV Rover: (after connecting to the rpi) 1 192.168.4.1

Posted by Rico's Nerd Cluster on January 6, 2025

Robotics - Spatial Hashing

Spatial Hashing Hash integer coordinates <x,y,z>. A good hash should make small input changes produce very different outputs. 1 2 3 4 5 6 7 std::size_t operator()(const TileKey &k) cons...

Posted by Rico's Nerd Cluster on January 2, 2025

Robotics - A Short Introduction To Underwater Sonar Imaging Cameras

Beam Forming

Sonar Imaging Pipeline Here is a nice introduction to the concept of beam-forming Beam Forming If you have multiple attenae, say each attena is attached to a fixed delay,...

Posted by Rico's Nerd Cluster on December 24, 2024

AI - LLM Applications

Techniques For Using AI Reflection is extremely helpful. “validate this code”, “check instructions for coherence and completeness”; “make this code more concise.” For subjective questions, AI is ...

Posted by Rico's Nerd Cluster on December 22, 2024

Robotics - A Survey On Oil Pipe Inspection Robotics (Revising)

Sonar Imaging, gradian

Non-Destructive Testing Methods American Society for Testing and Materials (ASTM) and American Society of Mechanical Engineers (ASME) develops standards for pipe inspections Ultrasonic Testing...

Posted by Rico's Nerd Cluster on December 20, 2024

Robotics - rviz2

Visualization Marker If you’ve ever wanted to display text directly in RViz2—for debugging, labeling, or status messages—you can do this using visualization markers. The key is to use a marker ...

Posted by Rico's Nerd Cluster on December 17, 2024

Robotics - ROS2 Logging

Logging Level Tweaking

Logging Level Tweaking Programmatic API (in-process) In C++, any rclcpp::Logger can have its level tweaked at runtime: 1 2 3 #include <rclcpp/logger.hpp> auto my_logger = rclc...

Posted by Rico's Nerd Cluster on December 12, 2024

Robotics - ROS2 TF2

Transform Listener

TF2 and Sim Time When working with ROS2 and tf2, you may encounter the following warning when visualizing data in RViz or processing buffers: 1 Warning: TF_OLD_DATA ignoring data from the past fo...

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

Robotics - ROS2 Behavior Tree Cpp

TransformListener

Basic Constructs BT ports: BehaviorTree-CPP needs a compile-time contract for every node type, a list of ports (name + type + optional default + description). e.g., BT::InputPort<...