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Autonomous Vehicle57

PCL Install on ROS2 1. Apt-based Installation sudo apt install libpcl* pcl-tools 2. Compling the build file from source PCL의 경우 버전마다 코드 상의 큰 변화가 있으므로 Source에서 일부 버전을 맞춰야하는 경우가 존재함. 따라서 PCL 공식 홈페이지에서 다운로드 후 빌드하여야 함. 필자의 경우 Ver 1.12 가 필요하여 다음의 Github에서 Tag에서 필요한 버전을 선택하였음. https://github.com/PointCloudLibrary/pcl GitHub - PointCloudLibrary/pcl: Point Cloud Library (PCL) Point Cloud Library (PCL). Contribute to PointC.. 2023. 5. 26.
Docker 많이 쓰는 명령어 기록지 (외장디스크, 디스플레이, GPU 등 설정) 도커관련 명령어 기록. 2022.06.09 1. 실행명령어 (볼륨 추가, 디스플레이 관련 설정 추가, GPU관련 추가 등) sudo docker run --gpus all -it \ -e DISPLAY=$DISPLAY \ -e USER=$USER \ -v /tmp/.X11-unix:/tmp/.X11-unix \ -v /root/.Xauthority:/root/.Xauthority \ -v /tmp/.docker.xauth:/tmp/.docker.xauth:rw \ --volume="/media/jeff/Seagate Expansion Drive/.segmap:/root/.segmap" \ --net host 0d7 /bin/bash --gpus all : 그래픽카드 코어 모두 실행 -e Display :.. 2022. 6. 9.
Polynomial Line Fitting Removing Outliers Using RANSAC (Python Code) import numpy as np from matplotlib import pyplot as plt from sklearn import linear_model np.random.seed(0) n_samples = 1000 n_outliers = 50 def get_polynomial_samples(n_samples=1000): X = np.array(range(1000)) / 100.0 np.random.shuffle(X) coeff = np.random.rand(2,) * 3 y = coeff[0]*X**2 + coeff[1]*X + 10 X = X.reshape(-1, 1) return coeff, X, y def add_square_feature(X): X = np.concatenate([(X**2.. 2021. 11. 15.
Points Polynomial Line Fitting (Python Code) x, y fitting , 1차 다항식 import numpy as np x = [1., 2., 3., 4., 5.] y = [0.8, 2.2, 3.1, 3.9 5.1] x = np.array(x) y = np.array(y) order = 1 yfit = np.polyfit(x,y,order) x,y 를 z 에 맞춤, 2차 다항식 import warnings from astropy.modeling import models, fitting x = [1., 1., 1., 2., 2., 2., 3., 3., 3.] y = [1., 2., 3., 1., 2., 3., 1., 2., 3.] z = [-0.05, 0.45, -0.1, 0.51, 1.05, 0.48, 0.0, 0.5, 0.01] order = 2 .. 2021. 11. 15.
오일러각(angle) 쿼터니언(x, y, z, w) 변환 (Python Code) def euler_to_quaternion(r): (yaw, pitch, roll) = (r[0], r[1], r[2]) qx = np.sin(roll/2) * np.cos(pitch/2) * np.cos(yaw/2) - np.cos(roll/2) * np.sin(pitch/2) * np.sin(yaw/2) qy = np.cos(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) + np.sin(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) qz = np.cos(roll/2) * np.cos(pitch/2) * np.sin(yaw/2) - np.sin(roll/2) * np.sin(pitch/2) * np.cos(yaw/2) qw = np.cos(rol.. 2021. 11. 10.
ZED F9P with RTK - WGS to UTM Hello, we use ZED F9P with RTK corrections. Is it possible to retrieve (besides latitude and longitude) also UTM and other coordinates from the Ublox interface? I am grateful for any hint! Our RTK data stream provides a wealth of information, e.g. besides latitude, longitude and ellipsoidal heights also UTM coordinates, normal heights and coordinates referring to other coordinate systems. Is it .. 2021. 11. 9.

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