h2r/GHOST
Feb 2025 – Apr 2025
3 Months active
Languages Used
AssetC#CgHLSLShaderLabUnityUnity SceneUnity Shader
Technical Skills
3D Graphics3D Reconstruction3D RenderingAlgorithm ImplementationAlgorithm OptimizationAsset Management
chengfanli
PROFILE
Chengfanli
Chengfan Li developed advanced 3D reconstruction and perception features for the h2r/GHOST repository, focusing on depth estimation, pose correction, and robust point cloud processing. Leveraging C#, Unity, and compute shaders, Chengfan integrated depth completion pipelines, optimized ICP algorithms, and introduced voxel-based sampling to improve efficiency and scalability. He implemented pose-consistent depth processing using custom shaders and enhanced the system’s stability by addressing memory management and debugging issues. These contributions established a reliable computer vision pipeline, enabling accurate 3D mapping and pose-aware perception for robotics and VR applications, and demonstrated strong technical depth in algorithm optimization and GPU computing.
Overall Statistics
Feature vs Bugs
62%Features
Repository Contributions
34Total
Bugs
8
Commits
34
Features
13
Lines of code
345,537
Activity Months3
Your Network
49 people
Work History
April 2025
1 Commits • 1 Features
Apr 1, 2025April 2025 monthly summary for h2r/GHOST: Implemented Computer Vision Depth (CVD) data generation and pose estimation pipeline, integrating optical flow estimation and depth completion, and added shaders for pose-consistent depth processing. These efforts establish a robust depth/data pipeline, enabling more accurate depth maps and pose-aware perception to support downstream tasks such as 3D reconstruction and robotics perception.
1 Commits • 1 Features
Apr 1, 2025April 2025 monthly summary for h2r/GHOST: Implemented Computer Vision Depth (CVD) data generation and pose estimation pipeline, integrating optical flow estimation and depth completion, and added shaders for pose-consistent depth processing. These efforts establish a robust depth/data pipeline, enabling more accurate depth maps and pose-aware perception to support downstream tasks such as 3D reconstruction and robotics perception.
April 2025
March 2025
5 Commits • 2 Features
Mar 1, 2025March 2025 monthly summary for h2r/GHOST. Focused on stabilizing and accelerating ICP-based depth estimation and 3D reconstruction, with foundational voxel-based optimizations to support scalable point-cloud processing. Delivered integrated ICP improvements, expanded pose support in compute shaders, and shader-level and visualization refinements to improve robustness, accuracy, and ROS/scene visualization fidelity. Introduced voxel-based sampling to boost efficiency and data handling for ICP workflows. These changes reduce processing time, enhance reconstruction quality, and enable more reliable deployments in real-world scenarios.
March 2025
5 Commits • 2 Features
Mar 1, 2025March 2025 monthly summary for h2r/GHOST. Focused on stabilizing and accelerating ICP-based depth estimation and 3D reconstruction, with foundational voxel-based optimizations to support scalable point-cloud processing. Delivered integrated ICP improvements, expanded pose support in compute shaders, and shader-level and visualization refinements to improve robustness, accuracy, and ROS/scene visualization fidelity. Introduced voxel-based sampling to boost efficiency and data handling for ICP workflows. These changes reduce processing time, enhance reconstruction quality, and enable more reliable deployments in real-world scenarios.
February 2025
28 Commits • 10 Features
Feb 1, 2025February 2025 (Month: 2025-02) highlights for h2r/GHOST: delivered features that improve 3D reconstruction fidelity, system stability, and operator UX; tracked via commits for traceability. Key launches include depth completion with pose correction to enhance 3D reconstruction, ICP system improvements to stabilize alignment, joystick arm control deployment with Unity UI updates, and a VR UI canvas to display the current control mode. Targeted stability work included a memory leak fix and resolution of a merge-related bug. These efforts reduced memory usage, eliminated leaks, tightened ICP iterations, and provided clearer VR and joystick UX, enabling more reliable autonomous/teleoperation scenarios. Technologies demonstrated include depth estimation, ICP optimization, Unity/VR UI development, memory management, and model updates. Business value: more reliable perception and control pipelines translate to safer missions, faster iteration cycles, and improved operator confidence across VR and joystick workflows.
28 Commits • 10 Features
Feb 1, 2025February 2025 (Month: 2025-02) highlights for h2r/GHOST: delivered features that improve 3D reconstruction fidelity, system stability, and operator UX; tracked via commits for traceability. Key launches include depth completion with pose correction to enhance 3D reconstruction, ICP system improvements to stabilize alignment, joystick arm control deployment with Unity UI updates, and a VR UI canvas to display the current control mode. Targeted stability work included a memory leak fix and resolution of a merge-related bug. These efforts reduced memory usage, eliminated leaks, tightened ICP iterations, and provided clearer VR and joystick UX, enabling more reliable autonomous/teleoperation scenarios. Technologies demonstrated include depth estimation, ICP optimization, Unity/VR UI development, memory management, and model updates. Business value: more reliable perception and control pipelines translate to safer missions, faster iteration cycles, and improved operator confidence across VR and joystick workflows.
February 2025
Activity
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Quality Metrics
Correctness79.4%
Maintainability80.0%
Architecture77.4%
Performance73.4%
AI Usage20.0%
Skills & Technologies
Programming Languages
AssetC#C++CgHLSLShaderLabUnityUnity SceneUnity ShaderUnityScript
Technical Skills
3D Geometry3D Graphics3D Reconstruction3D RenderingAlgorithm ImplementationAlgorithm OptimizationAsset ManagementC#C# ScriptingCompute ShadersComputer VisionConfiguration ManagementData StructuresDebuggingDepth Estimation
Repositories Contributed To
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