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# Converts the mean.binaryproto (mean image) to a numpy image. 
import caffe
import numpy as np
import sys


blob = caffe.proto.caffe_pb2.BlobProto()
data = open('mean.binaryproto' , 'rb' ).read()
blob.ParseFromString(data)
arr = np.array( caffe.io.blobproto_to_array(blob) )

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cmake_minimum_required (VERSION 2.8)
project (glfw_test)

find_package( glfw3 REQUIRED )
find_package( GLEW REQUIRED )
find_package( OpenGL REQUIRED )


set(CMAKE_CXX_FLAGS "-std=c++11")
add_executable( glDemo gl_test.cpp )

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cmake_minimum_required (VERSION 2.8)
project (proto_app)

add_executable( helloDemo hello.cpp )

target_link_libraries( helloDemo )

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""" Give a) points in localcoordinate system b) a gps lat long of the origin of the local coordinate system,
this script helps to convert XYZ to latlong. 

Beware that the transformation will be off by an yaw angle. This is because the local cordinate frame is may/or may not align with the East-North-Up frame. 

The way it works is XYZ --> ECEF --> geodedic (latlong)


main reference is still the wiki  https://en.wikipedia.org/wiki/Geographic_coordinate_conversion#From_ECEF_to_ENU. 
However the procedure to convert from ECEF to geodedic in wikip does not give accurate results. Instead the algorithm 

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#include <ImuDeadReckon.h>


/// default constructor. Init the subscribers
ImuDeadReckon::ImuDeadReckon()
{
    sub = nh.subscribe( "imu_3dm_gx4/imu", 2, &ImuDeadReckon::imuDataRcvd, this );
    pub_dr_pose = nh.advertise<geometry_msgs::PoseStamped>( "/imu/pose", 1 );

    // Global Constants

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cmake_minimum_required(VERSION 2.8.3)
project(vfc)


find_package(OpenCV REQUIRED)
include_directories(
  ${OpenCV_INCLUDE_DIRS}
)

add_executable( keypoints keypoints.cpp )

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import imaplib
import email

mail = imaplib.IMAP4_SSL('imap.gmail.com')
mail.login('USERNAME_HERE', 'PASSWORD_HERE')
print mail.list()
mail.select('inbox')

result, email_list = mail.uid('search', None, "UNSEEN")
#result, email_list = mail.uid('search', None, "ALL")

mpkuse

Often time I come across the type3 font type error when submitting papers to scientific conference. What it means is that you have a non-standard font in your PDF.

For the written text part, just put the following in the preamble of your .tex file and show it fine. \pdfminorversion=4

Another nasty place that these fonts turn up is in your plots. Especially the one using vector graphics. If using matplot (Python) for your plot, just put the following after your import and it fixes the problem.

import matplotlib.pyplot as plt

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threading and multiprocessing are the modules that provide concurency facility in python. Both provide different utility. Google the difference to know more. But basically threading provides multiple threads (in a single process-context). This can you computing teeth while your data gets loaded. Although multiple threads can be started with this but only 1 thread can be active at a time. Other threads can be sleeping or loading data. Thus, this is not suitable when your threads need to all do number crunching (CPU-bound).

multiprocessing lets you create separate processes. These processes have different memory context. Data needs to be shared with semaphores. Easy way share data is using the Manager class and Manager.list() and Manager.dict() or the multiprocessing.Queues().

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A Sample usage of std::thread with locks. Adopted from : http://nrecursions.blogspot.com/2014/08/mutex-tutorial-and-example.html.

Compile:

 g++ -std=c++11 -pthread mutex_example.cpp