SebastianBitsch

/*
 * ESP32 HTTP OTA Update Example
 * This sketch demonstrates how to check for and download firmware updates
 * from an HTTP server.
 */

#include <WiFi.h>
#include <HTTPClient.h>
#include <HTTPUpdate.h>

SebastianBitsch

# Usage:
# load_env(path = ".env")
# API_KEY = os.getenv('API_KEY', 'some-secret')

import os

def load_env(path: str) -> None:
    """
    Function for loading .env file for secret API keys etc. and write them to the global enviroment
    I have the .env file located in the top ws dir, but could be anywhere. Gets rid of dotenv dependency

SebastianBitsch

import argparse

import open3d as o3d

# Convert mesh file to .ply point clouds
if __name__ == "__main__":
    parser = argparse.ArgumentParser(description='Process some integers.')
    parser.add_argument('--input_path', type=str, help='Path of the file to convert, output will be in the same dir if no output is given')
    parser.add_argument('--ouput_path', type=str, help='Path of where to save the file')
    parser.add_argument('--n_points', type=int, default=100_000, help='How many points the ply file should contain')

SebastianBitsch

import torch

def count_parameters(model):
    """
    Nice to have helper function stolen from: 
        https://discuss.pytorch.org/t/how-do-i-check-the-number-of-parameters-of-a-model/4325/9
    """
    return sum(p.numel() for p in model.parameters() if p.requires_grad)

SebastianBitsch

"""
-- Use example in ROS2 terminal:
self.get_logger().info(f"X: {plot_bipolar(self.kf.x[3])}, Y: {plot_bipolar(self.kf.x[4])}, Z: {plot_bipolar(self.kf.x[5])}")

-- Output:
[INFO] [1740172663.636000550]: X: |..........|@.........|, Y: |..........|..........|, Z: |..........|..........|
[INFO] [1740172663.685122760]: X: |..........|@@........|, Y: |..........|@.........|, Z: |..........|..........|
[INFO] [1740172663.735189229]: X: |..........|@@........|, Y: |..........|@.........|, Z: |..........|@.........|
[INFO] [1740172663.785187161]: X: |..........|@.........|, Y: |..........|@@........|, Z: |..........|@@........|
[INFO] [1740172663.836043554]: X: |..........|..........|, Y: |..........|@@........|, Z: |..........|@@........|

SebastianBitsch

import os
import argparse

import numpy as np
import open3d as o3d

# Just a basic dummy material
material_contentes = """
    newmtl material_0
    Ka 0.40000000 0.40000000 0.40000000

SebastianBitsch

import os
import sys
from contextlib import contextmanager

import cv2

@contextmanager
def quiet():
    """
    Temporarily redirect stdout and stderr to devnull to suppress OpenCV's warnings.

SebastianBitsch

import argparse

import open3d as o3d

# Convert .stl models to .ply point clouds
if __name__ == "__main__":
    parser = argparse.ArgumentParser(description='Process some integers.')
    parser.add_argument('--file', type=str, help='Path of the file to convert, output will be in the same dir named *.ply')
    parser.add_argument('--n_points', type=int, default=10000, help='How many points the ply file should contain')
    parser.add_argument('--draw_output', type=bool, default=False, help='Should the resulting file be shown in plot')

SebastianBitsch

Minimal Python scripting language

The example contains just a simple command interpreter for setting, getting, and persisting variables. It is meant as a demo that could be extended with more commands and more complex functionality to use in for instance ROS2.

Uses a command lookup system (COMMANDS dictionary) to map user input to the appropriate functions and execute them. The user interacts with the program through a basic REPL (Read-Eval-Print Loop) in the command_loop().

Commands:

• help : Print information about commands
• set : Set a variable with a given name to a specific value.

SebastianBitsch

import numpy as np

def project_point_to_linesegment(start: np.ndarray, end: np.ndarray, p: np.ndarray) -> np.ndarray:
    """
    Vectorized operation for projecting a point onto on array of line segments.
    Follows the procedure outlined in: https://stackoverflow.com/a/1501725/19877091

    Parameters:
        start (np.ndarray) (N, 2): Starting point of the line segments.
        end (np.ndarray) (N, 2): Ending point of the line segments.