insaneyilin

import numpy as np
import pypcd

filepath='hesai_pandar40p_1593421778.828716.pcd'
pc = pypcd.PointCloud.from_path(filepath)

points = []
for pt in pc.pc_data:
    points.append([pt[0], pt[1], pt[2], 0.0])

insaneyilin

// https://www.varsitytutors.com/hotmath/hotmath_help/topics/line-of-best-fit.html

double CalcLineSlope(const std::vector<double>& x,
                     const std::vector<double>& y) {
  const auto n = x.size();
  const auto s_x = std::accumulate(x.begin(), x.end(), 0.0);
  const auto s_y = std::accumulate(y.begin(), y.end(), 0.0);
  const auto s_xx = std::inner_product(x.begin(), x.end(), x.begin(), 0.0);
  const auto s_xy = std::inner_product(x.begin(), x.end(), y.begin(), 0.0);
  const auto slope = (n * s_xy - s_x * s_y) / (n * s_xx - s_x * s_x);

insaneyilin

#include <iostream>
#include <vector>
#include <string>
#include <algorithm>

void print_vec(std::vector<int> &vec) {
  for (auto x : vec) {
    std::cout << x << " ";
  }
  std::cout << "\n";

insaneyilin

// reference: https://ddorobot.tistory.com/entry/OpenCV-Draw-DotDash-Line

#include <iostream>
#include <vector>
#include <string>
#include <algorithm>

#include "opencv2/opencv.hpp"

void DrawDashedLine(cv::Mat& img, cv::Point pt1, cv::Point pt2,

insaneyilin

#!/usr/bin/env python
# -*- coding: utf-8 -*-

"""
{Description}
"""

from __future__ import print_function
import os
import sys

insaneyilin

#!/usr/bin/env python
# -*- coding: utf-8 -*-


from __future__ import print_function
import os
import sys
import argparse
import cv2

insaneyilin

# /etc/profile.d/alias.sh

# https://www.cyberciti.biz/tips/bash-aliases-mac-centos-linux-unix.html

## ls command
alias ls='ls --color=auto'
alias wl='ls | wc -l'
alias l='ls -l --color=auto'
alias lh='ls -lh --color=auto'
alias ll='ls -la --color=auto'  # use a long listing format

insaneyilin

#include <iostream>
#include <sstream>
#include <iomanip>
#include <string>

// e.g. 1584773265.928826
std::stringstream oss;
oss << std::setfill('0') << std::setw(17) << std::fixed
    << std::setprecision(6) << timestamp << ".png";
std::string filename = oss.str();

insaneyilin

#include <iostream>
#include <fstream>
#include <string>

// e.g. ./main data_tracking_velodyne/testing/velodyne/0000/000000.bin
int main(int argc, char **argv) {
  if (argc != 2) {
    std::cerr << "Usage: " << argv[0] << " <filepath>\n";
    return 1;
  }

insaneyilin

void PrintEigenMat(const Eigen::Ref<const Eigen::MatrixXd> &x,
    const std::string mat_name) {
  if (!mat_name.empty()) {
    std::cout << mat_name << " =\n";
  }
  const int rows = x.rows();
  const int cols = x.cols();
  char buf[200];
  for (int i = 0; i < rows; ++i) {
    for (int j = 0; j < cols; ++j) {