Line scan camera image processing part 2
I further improved my line scan camera image processing!
Daniel Lawrence Lu's blog
Latest posts from Daniel Lawrence Lu's blog
Latest posts
Trip to Pismo Beach
In May, we went to Pismo Beach!
DGX Spark as a daily driver
I bought an NVIDIA DGX Spark! It's actually quite a competent general purpose computer while being super tiny and power efficient. It basically just has an ARM CPU, a decent NVIDIA GPU (with the same number of CUDA cores as the RTX 5070), 128 GB of unified memory, and a 4 TB SSD.
Standalone CNC line scan camera
I use my line scan camera to take cool pictures of trains and other stuff.
Switching to Markdown
Back in 2014, I wrote a custom Markdown-like language. At the time I did so because I needed features like math equations that weren't super standardized back then. Now, I've finally decided to admit defeat and just switch to Markdown. I'm still using my custom static site generator, dllup-rs, but I no longer have to worry about maintaining my own parser and stuff.
Trip to Ridgecrest
At the end of March 2026, we went to Ridgecrest, to visit nearby Trona Pinnacles, Alabama Hills, and other attractions. We went with our friend, my cousin in law, and their dog Emily.
Uploading to Wikimedia Commons with AI
Uploading to Wikimedia Commons is fun and rewarding. I love taking photos of stuff, and sharing my photos with the world is nice. Otherwise, it would be kind of sad that my 100 megapixel photos just languish on my computer, never to be seen by anyone other than my family and me. I've uploaded tons of photos which you can see at user:dllu on Commons.
Trip to Hong Kong, Zhuhai, Chongqing, Chengdu, and Shanghai
From January to February of 2026, Joanne, baby, and I went to China!
Autonomous cars
In the nearly 10 years of living in the Bay Area, I've taken many photos of autonomous vehicles, as well as human-driven vehicles and prototypes used for autonomous vehicle research! So here's a list of some of my original photos.
Trip to British Columbia
In June 2025, Joanne, baby, and I went to British Columbia, Canada! We went to Vancouver, Abbotsford, and Williams Lake. This trip was mostly for visiting family and friends, so we didn't end up doing a ton of sightseeing. Nonetheless, here are the photos!
Trip to Hawaii
In June 2025, we went to Hawaii! We went to the Big Island, which is also known as Hawaiʻi Island. This was the first time we took a plane with our baby!
Trip to Zhuhai, Guangzhou, and Macau (2024-09)
In September 2024, Joanne and I went to China! We went to Zhuhai, Guangzhou, and Macao. This is the sequel to trip to Japan and Hong Kong. I was going to publish this blog post at the same time as that one, but due to extreme procrastination, here we are over a year later!
Flight on a friend's Cessna (2018)
On 2018-04-14, I rode with my friend Yan on his Cessna 172M. Since he hadn't flown for a while, he had to take off and land a couple of times before I could get on. How exciting!
Mamiya Apo 200mm f/2.8 on Fuji GFX
The Mamiya Apo 200mm f/2.8 is a medium format lens for Mamiya M645 system. It covers a much bigger image circle than the Fujifilm GFX cameras, though it is smaller than that covered by the RB/RZ lenses such as the Apo-Sekor-Z 350mm.
Mamiya Apo-Sekor-Z 350mm f/5.6 on Fuji GFX
The Mamiya Apo-Sekor Z 350mm f/5.6 is a medium format lens for Mamiya RB/RZ 67. It covers a much bigger image circle than the Fujifilm GFX 100S.
Trip to the UK
Joanne, baby, and I went to the UK! We went to London, Edinburgh, Cambridge, and Bath.
sriv: simple rust image viewer
I vibe-coded an image viewer in Rust!
Amazing website improvements
I made some amazing improvements to my website! I completely revamped the backend and vibe coded it in Rust using Codex CLI.
Line scan camera image processing
I use my line scan camera to take cool pictures of trains and other stuff.
All about automotive lidar
Here I'll provide a comprehensive overview of automotive lidar technology. Lidar is used for autonomous vehicles and robotics because it's a cool technology.
Asahi Linux with Sway on the MacBook Air M2
I bought a MacBook Air M2. As of writing, it's very affordable with the 16 GB RAM, 256 GB SSD, 13.6" model available for $750. As of writing, also Asahi Linux doesn't support anything newer than M2.
How self-driving cars will not destroy cities
Recently, I watched this video below. For the record, I enjoy NotJustBikes, I am subscribed to and post on /r/fuckcars, and I fully embrace and love transit-oriented development and walkable cities.
Dogs
Here are some dogs that I've had the pleasure of meeting.
Comparison of two train systems
Here I will compare Caltrain and the Guangzhou-Zhuhai Intercity rail. It's an apples-to-oranges comparison, as the two systems are built in very different places, with very different needs and considerations. So this comparison is just for fun!
Trip to Japan and Hong Kong
Joanne and I went to Japan and China again! The itinerary is: three nights in Tokyo, three in Hong Kong, about a week in Zhuhai (with a one night trip to Guangzhou in between), and a night in Macao.
Customizing my line scan camera
I have an Alkeria Necta N4K2-7C, which I use to take pictures of stuff like trains.
Orange Skies Day
On 2020-09-09 in San Francisco, a rare meteorological phenomenon known as Orange Skies Day occurred. Here are the pics!
Trips to Brisbane, Seattle, Madrid, and Shanghai (2018)
In 2018 I went to Brisbane, Seattle, Madrid, and Shanghai.
Trip to Japan (2017)
In August 2017, my friends and I went to Japan!
Trip to Macau and Zhuhai (2024-01)
In January 2024, Joanne and I went to China! We went to Macau and Zhuhai.
Trip to Japan
In December 2023 to January 2024, Joanne and I went to Japan! We went to Tokyo and Kyoto. Right afterwards, we went to Macau and Zhuhai, which will be covered in the next blog post.
Small form factor PC
I built a small form factor PC. The build is based on the Minisforum BD790i which has an AMD Ryzen 9 7945HX. This CPU is physically identical to the desktop 7950X, but has lower power and slightly lower clock rate, meaning it draws about half the power while delivering 90% of the performance.
Santa Cruz Beach Train
Today we tried to take the Santa Cruz Beach Train from Roaring Camp to Santa Cruz and back.
Sigma Art 70mm f/2.8 Macro on Fuji GFX
In this blog post I will share a couple of unprocessed full resolution shots taken with the Sigma Art 70mm f/2.8 DG Macro for Canon EF mount on Fuji GFX 100S. Although not a comprehensive lens review, it should give some idea of the performance of this lens, and the amount of vignetting (or lack thereof) to expect on the 44 × 33 mm medium format sensor.
Kusakabe
Today we went to Kusakabe for dinner, so here are the pics! It's a Michelin starred sushi restaurant in San Francisco, with a focus on Kyoto-style kaiseki.
Leica Apo-Telyt-R 180mm f/3.4 on Fuji GFX
In this blog post I will share a couple of unprocessed full resolution shots taken with the Leica Apo-Telyt-R 180mm f/3.4 on the Fujifilm GFX 100S. Although not a comprehensive lens review, it should give some idea of the performance of this lens, and the amount of vignetting (or lack thereof) to expect on the 44 × 33 mm medium format sensor.
Voigtländer Macro Apo Lanthar 125mm f/2.5 on Fuji GFX
In this blog post I will share a couple of unprocessed full resolution shots taken with the Voigtländer Macro Apo Lanthar 125mm f/2.5 SL for Nikon F mount (Ai-S) on Fuji GFX 100S. Although not a comprehensive lens review, it should give some idea of the performance of this lens, and the amount of vignetting (or lack thereof) to expect on the 44 × 33 mm medium format sensor.
Voigtländer Apo Lanthar 90mm f/3.5 on Fuji GFX
In this blog post I will share a couple of unprocessed full resolution shots taken with the Voigtländer Apo Lanthar 90mm f/3.5 SL for M42 mount. Although not a comprehensive lens review, it should give some idea of the performance of this lens, and the amount of vignetting (or lack thereof) to expect on the 44 × 33 mm medium format sensor.
Trip to Europe
In February, Joanne and I went to Europe! We went to Paris, Nice, Florence, and Milan.
Using an 8K TV as a monitor
For programming, word processing, and other productive work, consider getting an 8K TV instead of a multi-monitor setup. An 8K TV will have superior image quality, resolution, and versatility compared to multiple 4K displays, at roughly the same size. As a bonus, an 8K display is also suitable for gaming at 4K 120 Hz, or for full screen media consumption, which is not possible with multiple…
Towards automating the Password Game
The Password Game is a recently viral game that allows you to choose a password subject to many challenging rules. Since it is very difficult to solve by hand, I wrote a program to do so. I haven't automated all the parts, but I've gotten fairly close.
Raspberry Pi time lapse camera
Using the Raspberry Pi's High Quality Camera module I made a time lapse camera in my living room.
SE(3) constraints for robotics
This document summarizes some common maths used for state estimation of rigid bodies such as in robotics.