荘の学習メモ

Problem description: When you have hundreds of files in the folder, and you want to rename them with the same rule... For example, I have images named img0.jpg, img1.jpg, img2.jpg......, and I expect them named img00000.jpg, img00001.jpg, img00002.jpg.  Commands:  $ rename 's/\d+/sprintf("%05d", $&)/e' *.jpg Reference: https://askubuntu.com/questions/473236/renaming-hundreds-of-files-at-once-for-proper-sorting

1. Create a new repository 2. git clone "path of new repository" 3. cd "project name" 4. echo "# project name" >> README.md 5. git init 6. git add README.md 7. move all codes to the path under the project folder 8. git status (optional) 9. git add . 10. git commit -m "first commit" 11. git push / git push --set-upstream origin master *If you got the message: Could not resolve host: github.com key in: $ git config --global --unset http.proxy $ git config --global --unset https.proxy and then restart the linux system, the problem will be solved. Reference: [1]  GitHub 入門(二) — 使用終端機上傳檔案到GitHub [2]  https://markdown.tw/ [3]  GitHub不再支援密碼驗證解決方案，怎麼辦？ [4]  使用 Git LFS 上傳大型檔案 [5]  Git Large File Storage - How to Work with Big Files

1. Installation (1)  Using the CDE package (2) Building from source 2. Camera calibration (1) Prepare a calibration target. (2) Prepare a image bag file & target.yaml file Command: ./kalibr_calibrate_cameras --target april_intel.yaml --bag rgb_mono.bag --model pinhole-equi --topics /camera/rgb/image_mono Output: camchain-%BAGNAME%.yaml results-cam-%BAGNAME%.txt report-cam-%BAGNAME%.pdf 3. Find IMU parameters (1) From product datasheet (ex: BMI160 ) (2) From the Allan standard deviation (AD) 4. Camera IMU calibration Command: ./kalibr_calibrate_imu_camera --target april_intel.yaml --cam camchain-homenamikidrone2kalibr-cdergb_mono.yaml --imu imu_intel.yaml --bag rgb_mono_imu.bag 5. Convert calibration results to the accessible files in the maplab (1) Building from source *source ~/kalibr_workspace/devel/setup.bash (2) rosrun kalibr kalibr_maplab_config --to-ncamera --label <your_label> --cam <your_cam_chain_yaml> R...

1. Install Ceres * Dependencies: $ sudo apt-get install liblapack-dev libsuitesparse-dev libcxsparse3.1. 4 libgflags-dev $ sudo apt-get install libgoogle-glog-dev libgtest-dev * Eigen version should be newer than 3.3.4. * Download the version  ceres-solver-1.14.0.tar.gz directly. 2. Build code_utils * Dependency: sudo apt-get install libdw-dev * Build the source code in the ROS_WORKSPACE * Modify file: catkin_ws/src/code_utils/src/ sumpixel_test.cpp #include "backward.hpp" ->  #include “code_utils/backward.hpp” 3. Build imu_utils * Build the source code in the ROS_WORKSPACE 4. Run the calibration * Create your own .launch file. (assign the topic name, time duration ...) *  roslaunch imu_utils XXX.launch first and then rosbag play -r 200 XXX.bag ***Don't forget to source setup.bash file ! Reference: [1]  https://github.com/gaowenliang/imu_utils [2]  https://zhuanlan.zhihu.com/p/151675712 [3]  https://blog.csdn.net...

In file "/var/kalibr-build/src/kalibr/aslam_offline_calibration/kalibr/python/kalibr_common/ ImageDatasetReader.py Modify: img_data = np.array(self.CVB.imgmsg_to_cv(data)) To: img_data = np.squeeze(np.array(self.CVB.imgmsg_to_cv2(data, "mono8"))) Reference: [1]  https://github.com/ethz-asl/kalibr/issues

1. $ROS_PACKAGE_PATH command not found Method: build the source code in a catkin workspace as follows. $ cd ~/catkin_ws $ cd src $ git clone https://github.com/raulmur/BagFromImages.git BagFromImages $ cd BagFromImages $ mkdir build $ cd build $ cmake .. $ make 2. undefined reference to symbol '_ZN14console_bridge3logEPKciNS_8LogLevelES1_z' /usr/lib/x86_64-linux-gnu/libconsole_bridge.so: error adding symbols: DSO missing from command line Method:  libconsole_bridge should be linked in CMakeLists.txt. ex: target_link_libraries (${PROJECT_NAME} console_bridge) Reference: [1]  https://github.com/raulmur/BagFromImages [2]  https://www.cnblogs.com/sparkzxw/p/6501730.html [3]  https://github.com/raulmur/BagFromImages/issues/5

OpenCV installation 0. Build M3 Bsp code for installing cross-compile tool  $ git clone https://github.com/BPI-SINOVOIP/BPI-M3-bsp.git $ cd BPI-M3-bsp $ mkdir -p linux-sunxi/output/lib/firmware $ sudo ./build.sh Then choose building kernel only: mode 3  1. Use cmake-gui to configure and generate makefile. (1) CMAKE_BUILD_TYPE: Release (2) CMAKE_EXE_LINKER_FLAGS: -lpthread( or pthread) -lrt -ldl (Manually modify this part in CMakeCache.txt file) * Also remember to modify file : common.cc [1] (3) CMAKE_INSTALL_PREFIX: /usr/local (4) OPENCV_GENERATE_PKGCONFIG: True (5) OPENCV_EXTRA_MODULE_PATH: ~/opencv4.3.0/opencv_contrib-4.3.0/modules (6) BUILD_ZLIB: True (7) ZLIB_INCLUDE_DIR: ~/opencv4.3.0/3rdparty/zlib (8) CMAKE_C_FLAGS: -O3 -fPIC (9) CMAKE_CXX_FLAGS: -O3 -fPIC * Command line: sudo cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=/usr/local -DOPENCV_GENERATE_PKGCONFIG=On -DOPENCV_EXTRA_MODULE_PATH=../opencv_contrib-3.4....

1. Setup $ sudo apt-get install ros-kinetic-image-view $ roscd image_view $ rosmake image_view $ sudo apt-get install mjpegtools 2. Create a roslaunch file (ex: export.launch) with following content and put your bag file in the path: /opt/ros/kinetic/share/image_view <launch>           <node pkg="rosbag" type="play" name="rosbag" required="true" args="$(find image_view)/ test.bag (your bag file name) "/>           <node name="extract" pkg="image_view" type="extract_images" respawn="false" required="true" output="screen" cwd="ROS_HOME"> <remap from="image" to=" /camera/image_raw (your topic name) "/>           </node> </launch> 3. Exporting images $ roslaunch export.launch 4. Copy exported images to the directory you want $ ~cd $ mkdir image_data $ mv ~/.ros/frame*.jpg image_data/

1. Install evo in the virtual environment [1] 2. Prepare the ground-truth data  Supported trajectory formats: 'TUM' trajectory files 'KITTI' pose files 'EuRoC MAV' (.csv groundtruth and TUM trajectory file) [2] ROS bagfile with: geometry_msgs/PoseStamped, geometry_msgs/TransformStamped, geometry_msgs/PoseWithCovarianceStamped or nav_msgs/Odometry topics 3. Plot ground-truth $ workon evaluation ( start evo ) $ evo_traj euroc data.csv --save_as_tum ( euroc => tum )  * There is no necessary to substract the original offset by yourself, just add "--align" in the command. $ evo_traj tum data.tum -p (tum format) $ deactivate ( stop evo ) 4. Generate trajectory data (ex: maplab) (1) Run VIO mode (2) load map in the maplab_console (3) Export .csv file ex: $ csv_export --csv_export_path '/home/shomin/maplab_ws/bagfiles/save_folder_0' (4) Open vertices.csv , delete first column and row, and save as a new file. (5) Trans...

1. Install dependencies $sudo apt-get update $sudo apt-get install ros-<distro>-usb-cam 2. Turn on device with live streaming mode [1] 3. Create a ROS workspace with source files and build $ mkdir -p ~/RICOH/src $ cd ~/RICOH/ $ catkin_make $ cd src $ git clone https://github.com/ntrlmt/theta_s_uvc $ cd ../dev $ souece setup.bash   4. Check device port and run $ ls /dev/video* $ roslaunch theta_s_uvc theta_s_uvc_start.launch device:=/dev/video0 enable_image_view:=true 5. Display $ rosrun rqt_image_view rqt_image_view $ rosrun rviz rviz Reference: [1] https://support.theta360.com/ja/manual/s/content/streaming/streaming_01.html [2] http://zhaoxuhui.top/blog/2019/10/20/ros-note-8.html

There are two WiFi mode available, they could be switched according to the following operations: 1. Access Point Mode Configuration(default): adb shell cd /data/misc/wifi/ vi wpa_supplicant.conf *SSID - QsoftAP *Password 1234567890 (psk) echo softap > wlan_mode Reboot 2. Station Mode Configuration: adb shell cd /data/misc/wifi/ vi wpa_supplicant.conf *Modify the wpa supplicant settings to match the WiFi network you wish to connect. echo station > wlan_mode Reboot *SSH over Wi-Fi: $ ssh root@<IP address of target> password: oelinux123

1. Install Docker on the host development machine [1], and then test the installation. (1) Check version docker version (2) Add user to docker group sudo groupadd docker sudo usermod -a -G docker {username} 2. Download Flight Pro Docker Image [2] 3. Import Flight Pro Docker Image docker load < excelsior-arm-sdk-sfpro_docker.tar docker images 4. Setup a Docker workspace cd $HOME  mkdir -p docker/flight_pro  cp ~/Downloads/run_docker.sh $HOME/docker/flight_pro  export SPRINT="null"  ./run_docker.sh atlflight/excelsior-arm-sdk-sfpro_docker   *This will launch you into a Docker bash shell running the same variant of Linux as the Flight Pro hardware as shown in the following picture. This script also creates a sdk_home directory in your docker workspace on your Host machine. Any changes you make within Docker $HOME will be mirrored to the sdk_home host workspace directory. 5. Build & test (1) download the SDKHelloWorld.zi...

Problem: C:\Users\shomin>ssh namikidrone2@192.168.8.1 @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ @    WARNING: REMOTE HOST IDENTIFICATION HAS CHANGED!     @ @@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@ IT IS POSSIBLE THAT SOMEONE IS DOING SOMETHING NASTY! Someone could be eavesdropping on you right now (man-in-the-middle attack)! It is also possible that a host key has just been changed. The fingerprint for the ECDSA key sent by the remote host is SHA256:MvA6+SzNldrn/8WOyMlPHDjqOWhtlIMTAj2HX0kno9A. Please contact your system administrator. Add correct host key in C:\\Users\\shomin/.ssh/known_hosts to get rid of this message. Offending ECDSA key in C:\\Users\\shomin/.ssh/known_hosts:1 ECDSA host key for 192.168.8.1 has changed and you have requested strict checking. Host key verification failed. Solution: Edit file: known_hosts located at C:\\Users\\shomin/.ssh/ Add: Host *    StrictHostKeyC...

1. Create a folder with all installation files (1) MATLABR2017b_Linux_Crack (2) install_key.txt (3) R2017b_glnxa64.iso ->  Download 2. mount R2017b_glnxa64.iso and install (refer to install_ket.txt) sudo mount -t auto -o loop R2017b_glnxa64.iso /temp cd temp sudo ./install 3. After installation, copy licences to specific directories... cd MATLABR2017b_Linux_Crack/ sudo cp  license_standalone.lic /usr/local/MATLAB/R2017b/licenses/  sudo cp  libmwservices.so /usr/local/MATLAB/R2017b/bin/glnxa64/ 4. Unmount sudo umount temp 5. Run cd /usr/local/MATLAB/R2017b/bin sudo ./matlab Reference: 1. ubuntu16.04安装MATLAB R2017b步骤详解（附完整破解文件包）

1. Installation:  ubuntu14.04安装intel openCL ,  Ubuntu16.04 安装OpenCV&OpenCL ,  Generic ubuntu packages for OpenCL ,  Install Proprietary Nvidia GPU Drivers On Ubuntu 16.04 / 17.10 / 18.04 Check the installation result by keying in command: nvidia-settings  *Do not need to install the OpenCL library for CPU. *GPU driver choose the newest 410.66. *Type " sudo apt-get remove beignet*" while reporting "X server found. dri2 connection failed!" 2. Copy libOpenCL.so present in your cuda toolkit (lib64) to the above location. ex:  sudo cp /usr/local/cuda-9.0/lib64/libOpenCL.so /usr/lib 3. Setting the path of head file. (/usr/include/CL/...) Reference:  OpenCL: 从零开始学习OpenCL开发 ,  OpenCL 教學（一）

1. Setup your sources.list and set up your keys  sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'  sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116  2. Installation  sudo apt-get update  sudo apt-get install ros-kinetic-desktop-full  3. Initialize rosdep  sudo rosdep init  rosdep update  4. Environment setup  echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc  source ~/.bashrc  5. Dependencies  sudo apt-get install python-rosinstall python-rosinstall-generator python-wstool build-essential -------------------------------------------------------------------------------------------------------------------------- If errors occur like following status: http://archive.ubuntu.com/ubuntu/dists/trusty-security/main...

1. Turned off Fast Boot in UEFI (Press Delete button) 2. Replace "quiet splash" with nomodeset 3. Install nvidia driver sudo add-apt-repositorty ppa:graphics-drivers/ppa sudo app-get update sudo app-get install nvidia-387 Reference: (1)  https://askubuntu.com/questions/949496/installing-ubuntu-16-04-on-msi-ge72mvr-system-freezes-when-i-restart (2)  https://ubuntuforums.org/showthread.php?t=2389372 (3)  https://www.tecmint.com/install-nvidia-drivers-on-ubuntu/

Resource:  http://www.cg.com.tw/3dsMax/ 快捷鍵：Alt + W 將視圖最大化， Alt +滑鼠中鍵移動可旋轉視圖 1. Attach Reference:  combine objects in 3D Studio Max 2. ProBoolean Reference:  如何在Poly模型上產生方洞和圓洞 3. 建立補面 Reference:  polygon的三種補面的方式 4. modifier Reference:  https://www.youtube.com/results?search_query=3ds+max+modifier 5. Align Reference:  Align(對齊工具) 講解 6. Slice plane Reference:  Slice Plane Tutorial 7. Extrude 可用2D平面圖來長出3D立體物件 8. 改變物件坐標軸位置 Reference:  How to reset Pivot Point to center of object in 3DS Max

1. 用3ds Max 畫要印的物件，輸出為.STL檔。 2. 於3D printer旁的電腦開啟待印檔案。(UP!) 3. 3D printer Power ON，並連接電腦(USB Port)。 4. 初始化校正。 5. 更換顏色。(取出&插入，測試到顏色正常輸出為止: プリンター設定) 6. 移動物件列印位置。(盡量不要在螺絲孔上) 7. 預覽列印。(可更改輸出設定，如密度) 8. 開始列印。(可忽略跳出警告視窗) 9. 一旦開始列印後即可拔出連接線。

Q1. The following packages have unmet dependencies: ros-kinetic-desktop-full : Depends: ros-kinetic-desktop but it is not going to be installed Depends: ros-kinetic-perception but it is not going to be installed Depends: ros-kinetic-simulators but it is not going to be installed Depends: ros-kinetic-urdf-tutorial but it is not going to be installed E: Unable to correct problems, you have held broken packages. Solution: Reset system setting (Software Updater) sudo rm /etc/apt/sources.list sudo software-properties-gtk Pick your options (Choose all options of Download from the internet, Download from Main server , Other software: delete "duplicates" as following picture) Close and reload (upgrade) Reference:  https://askubuntu.com/questions/760896/how-can-i-fix-apt-error-w-target-packages-is-configured-multiple-times ,  https://blog.csdn.net/xiangxianghehe/article/details/78483799 Q2. binary-arm64/Packages 404 Not Found Solution: apt-get remove .*:arm64...