jamesgregson

'''
james.gregson@gmail.com

A pretty small 3D IK solver, < 100 lines of code but > 100 lines of comments.
Low dependency (numpy, opencv-python, matplotlib) and includes visualization.

Not particularly fast.

Solves for joint rotations needed in a kinematic skeleton to minimize errors of a set
of end-effectors with respect to a corresponding set of target positions. Assumes

jamesgregson

'''Finite difference Jacobians

Author: James Gregson 
Date: 2020-10-04

Utility function to differentiate numeric functions with finite differences.
Useful for checking analytically derived Jacobian & gradient computations.

See bottom of file for example usage.

jamesgregson

import unittest
import numpy as np
import scipy.sparse as sparse

class Filter2D:
    def __init__( self, offy, offx, vals ):
        '''2D filtering operation with spatial, fourier and matrix features

        Args:
            - offy (integer sequence): vertical offsets of filter coefficients

jamesgregson

'''Very simplified JSON-RPC server with endpoint registration

Try with:

curl -X POST -H "Content-type: application/json" -d '{"jsonrpc": "2.0", "id": 1, "method": "say_hello", "params": {"name": "James", "age": 11}}' http://127.0.0.1:8000
curl -X POST -H "Content-type: application/json" -d '{"jsonrpc": "2.0", "id": 1, "method": "say_hello", "params": {"name": "James"}}' http://127.0.0.1:8000
curl -X POST -H "Content-type: application/json" -d '{"jsonrpc": "2.0", "id": 1, "method": "say_hello", "params": ["James", 10]}' http://127.0.0.1:8000
curl -X POST -H "Content-type: application/json" -d '{"jsonrpc": "2.0", "id": 1, "method": "say_hello", "params": ["James"]}' http://127.0.0.1:8000

'''

jamesgregson

from typing import *
import time
import numpy as np
import scipy.sparse as sparse
import scipy.sparse.linalg as spla

def build_cotan_laplacian( points: np.ndarray, tris: np.ndarray ):
    a,b,c = (tris[:,0],tris[:,1],tris[:,2])
    A = np.take( points, a, axis=1 )
    B = np.take( points, b, axis=1 )

jamesgregson

import inspect

def contract( expects=[], ensures=[] ):
    def func_wrapper( func ):
        return Contract(function=func,preconditions=expects,postconditions=ensures )
    return func_wrapper

class Contract:

    class Args:

jamesgregson

import time
import base64
from http.server import BaseHTTPRequestHandler, HTTPServer

class MyHandler(BaseHTTPRequestHandler):
    def do_HEAD(self):
        self.send_response(200)
        self.send_header('Content-type', 'text/html')
        self.end_headers()

jamesgregson

import cv2
import numpy as np
from http.server import BaseHTTPRequestHandler,HTTPServer
import io
import socket

import time
capture0 = None
capture1 = None

jamesgregson

#ifndef __KD_TREE_HEADER_H
#define __KD_TREE_HEADER_H

#include <set>
#include <list>
#include <tuple>
#include <queue>
#include <vector>
#include <algorithm>

jamesgregson

/*cppimport
<%
setup_pybind11(cfg)
%>
*/
#include <pybind11/numpy.h>
#include <pybind11/pybind11.h>
namespace py = pybind11;

#include <cmath>