Testing

Zero-copy GStreamer tracking pipeline on Jetson Orin

From a PyTorch Tracker to a Zero-Copy GStreamer Pipeline: Rebuilding SAM2.1/SAMURAI on Jetson, Step by Step

A long, hands-on account of turning a research-grade PyTorch visual tracker (SAM2.1 / SAMURAI) into a real-time, zero-copy GStreamer + CUDA + TensorRT pipeline on a Jetson Orin NX — decomposing the model into engines, exporting and parity-validating each one, porting the per-frame math to CUDA, packaging it as a GStreamer element, and squeezing 8 fps into 24 with queues and frame-skipping. Every stage is validated against a golden reference.

The Road to Boost.SML 1.2.0: New API and a Type-Name Heisenbug

A warts-and-all account of cutting the Boost.SML 1.2.0 release — four new public APIs, a behavior change rooted in undefined behavior, a type-name Heisenbug that only fired on GCC and MSVC, a dead “Run” button, and the surprisingly deep rabbit hole of making 30 Compiler Explorer links that actually work.

Contributing to ROS 2 — A Practical Guide from Four Accepted PRs

Everything I learned submitting four pull requests to ROS 2 core repositories — from finding issues and building in Docker to passing DCO checks, handling OSRF’s AI disclosure policy, rebasing across distro branches, and running the full test suites. A warts-and-all field guide.