From 78cc506cf8d1e61cfb4de7328d70d9d522f91ffd Mon Sep 17 00:00:00 2001
From: Akemi Izuko <akemi@noway.moe>
Date: Sat, 30 Dec 2023 12:42:58 -0700
Subject: [PATCH] Blog: update urls to public

---
 src/content/blog/duckietown/lab1.md     |  6 ++---
 src/content/blog/duckietown/lab2.md     | 36 ++++++++++++-------------
 src/content/blog/duckietown/lab3.md     | 16 +++++------
 src/content/blog/duckietown/lab4.md     |  6 ++---
 src/content/blog/duckietown/lab5.md     | 24 ++++++++---------
 src/content/blog/duckietown/lab6.md     |  8 +++---
 src/content/blog/duckietown/pre_lab1.md |  2 +-
 7 files changed, 49 insertions(+), 49 deletions(-)

diff --git a/src/content/blog/duckietown/lab1.md b/src/content/blog/duckietown/lab1.md
index 5e82ff3..7623417 100644
--- a/src/content/blog/duckietown/lab1.md
+++ b/src/content/blog/duckietown/lab1.md
@@ -2,7 +2,7 @@
 title: 'DuckieTown - Lab 1'
 description: "Let's get rolling!"
 pubDate: 'Jan 22 2023'
-heroImage: '../../../src/assets/duckietown/sleeping_duckies.avif'
+heroImage: '/images/duckietown/sleeping_duckies.avif'
 ---
 
 <p style="font-size: max(2vh, 10px); margin-top: 0; text-align: right">
@@ -132,7 +132,7 @@ in a browser. It has a live camera feed and sensor signals. Here's a dashboard
 with my bot driving forward in a straight line
 
 <img
-    src="../../../src/assets/duckietown/dashboard_motors_forward.avif"
+    src="/images/duckietown/dashboard_motors_forward.avif"
     alt="Motors of duckiebot driving forward, as seen from the dashboard"
 />
 
@@ -140,7 +140,7 @@ Notice how the angular speed is 0. That's since it's not turning. Below is a
 picture of it spinning in a circle, now with no forward velocity
 
 <img
-    src="../../../src/assets/duckietown/dashboard_motors_spin.avif"
+    src="/images/duckietown/dashboard_motors_spin.avif"
     alt="Motors of duckiebot spinning in a circle, as seen form the dashboard"
 />
 
diff --git a/src/content/blog/duckietown/lab2.md b/src/content/blog/duckietown/lab2.md
index a60e23c..6b2310e 100644
--- a/src/content/blog/duckietown/lab2.md
+++ b/src/content/blog/duckietown/lab2.md
@@ -2,7 +2,7 @@
 title: 'DuckieTown - Lab 2'
 description: "Camera and kinematics"
 pubDate: 'Feb 13 2023'
-heroImage: '../../../src/assets/duckietown/lab2/quiver_plot_sparse.avif'
+heroImage: '/images/duckietown/lab2/quiver_plot_sparse.avif'
 ---
 
 <!-- THIS IS THE OUTLINE, NOT VISIBLE THO KEEP IT FOR REFERENCE
@@ -136,7 +136,7 @@ instead of having to constantly modify source code.
 Here's a screenshot of the node in `rqt_graph`:
 
 <img
-    src="../../../src/assets/duckietown/lab2/custom_publisher_and_subscriber_allinone.avif"
+    src="/images/duckietown/lab2/custom_publisher_and_subscriber_allinone.avif"
     alt="Custom camera node in rqt_graph. It publishes two outgoing topics"
 />
 
@@ -152,7 +152,7 @@ Here's a screenshot of our modified topic being published (this one isn't black
 and white):
 
 <img
-    src="../../../src/assets/duckietown/lab2/custom_published_image.avif"
+    src="/images/duckietown/lab2/custom_published_image.avif"
     alt="Picture of screen with rqt_image_view streaming our topic"
 />
 
@@ -162,7 +162,7 @@ though the assignment asks for a picture of the source code... so here's a
 picture of where the link leads:
 
 <img
-    src="../../../src/assets/duckietown/lab2/lab2_camera_node_code_screenshot.avif"
+    src="/images/duckietown/lab2/lab2_camera_node_code_screenshot.avif"
     alt="Screenshot of 2 Chromium windows displaying source code"
 />
 
@@ -175,43 +175,43 @@ initial robot frame to the world frame?**
 The robot frame is always centered on the robot, so it is given by
 
 
-<img src="../../../src/assets/duckietown/lab2/math1.avif" />
+<img src="/images/duckietown/lab2/math1.avif" />
 
 The initial world frame is given by
-<img src="../../../src/assets/duckietown/lab2/math2.avif" />
+<img src="/images/duckietown/lab2/math2.avif" />
 
 To transform the initial world frame to the robot frame is trivial, keep the
 angle theta the same, and `x_R = 0` and `y_R = 0`. This is equivalent to this
 matrix multiplication:
 
-<img src="../../../src/assets/duckietown/lab2/math11.avif" />
+<img src="/images/duckietown/lab2/math11.avif" />
 
 To get the initial world frame from the initial robot frame,
 we keep the angle theta the same, and set `x_I = 0.32` and `y_I = 0.32`.
 This is equivalent to this matrix multiplication:
 
-<img src="../../../src/assets/duckietown/lab2/math3.avif" />
+<img src="/images/duckietown/lab2/math3.avif" />
 
 
 We used the following matrix multiplication to transform between the two:
 
-<img src="../../../src/assets/duckietown/lab2/math4.avif" />
+<img src="/images/duckietown/lab2/math4.avif" />
 
 with
 
-<img src="../../../src/assets/duckietown/lab2/math5.avif" />
+<img src="/images/duckietown/lab2/math5.avif" />
 
 Then we can update the world frame by integrating the above changes in world
 frame
 
-<img src="../../../src/assets/duckietown/lab2/math6.avif" />
+<img src="/images/duckietown/lab2/math6.avif" />
 
 We also must apply the modulo of `2 * pi` to the angle theta to keep it between
 0 and `2 * pi`.
 
 We note that the equation for getting the change in robot frame is given by
 
-<img src="../../../src/assets/duckietown/lab2/math7.avif" />
+<img src="/images/duckietown/lab2/math7.avif" />
 
 where `d_r` and `d_l` are the integrated displacement traveled by the right and
 left wheels and `l` is the distance between the wheels and the center of the
@@ -220,7 +220,7 @@ rotation.
 To get the integrated displacements `d_r` and `d_l`, we use the wheel encoder
 ticks formula:
 
-<img src="../../../src/assets/duckietown/lab2/math8.avif" />
+<img src="/images/duckietown/lab2/math8.avif" />
 
 where `r = 0.025` is the radius of the Duckiebot wheel and `resolution = 135`
 is the number of ticks in one rotation of the wheel.
@@ -230,11 +230,11 @@ is the number of ticks in one rotation of the wheel.
 To update the angle theta that our DuckieBot has traveled, we used the matrix
 multiplication above, which breaks down to the following equations for angle:
 
-<img src="../../../src/assets/duckietown/lab2/math9.avif" />
+<img src="/images/duckietown/lab2/math9.avif" />
 
 where
 
-<img src="../../../src/assets/duckietown/lab2/math10.avif" />
+<img src="/images/duckietown/lab2/math10.avif" />
 
 **Can you explain why there is a difference between actual and desired
 location?**
@@ -464,13 +464,13 @@ one from the start of this section. The final distance was 64cm when measured by
 AR-ruler. About 62cm when measured by a prehistoric 90cm-stick:
 
 <div><img
-    src="../../../src/assets/duckietown/lab2/lab2_final_position.avif"
+    src="/images/duckietown/lab2/lab2_final_position.avif"
     alt="64cm measured distance in an AR-ruler screenshot of an iPhone"
     style="width: 100%; height: 100%"
 /></div>
 
 <div><img
-    src="../../../src/assets/duckietown/lab2/lab2_final_dist_ar.avif"
+    src="/images/duckietown/lab2/lab2_final_dist_ar.avif"
     alt="64cm measured distance in an AR-ruler screenshot of an iPhone"
 /></div>
 
@@ -485,7 +485,7 @@ ipython-notebook](https://codeberg.org/akemi/duckietown/src/branch/main/lab2/bag
 with the resulting image here:
 
 <img
-    src="../../../src/assets/duckietown/lab2/quiver_plot_sparse.avif"
+    src="/images/duckietown/lab2/quiver_plot_sparse.avif"
     alt="A quiver plot (end-to-end arrows) of the robot traveling in a square"
 />
 
diff --git a/src/content/blog/duckietown/lab3.md b/src/content/blog/duckietown/lab3.md
index 1f9ab0a..7d2e2be 100644
--- a/src/content/blog/duckietown/lab3.md
+++ b/src/content/blog/duckietown/lab3.md
@@ -2,7 +2,7 @@
 title: 'DuckieTown - Lab 3'
 description: "Localization through Sensor Fusion"
 pubDate: 'March 05 2023'
-heroImage: '../../../src/assets/duckietown/lab3/ar-ducks.avif'
+heroImage: '/images/duckietown/lab3/ar-ducks.avif'
 ---
 
 A screenshot of our [Unit A-4 Advanced Augmented Reality
@@ -60,7 +60,7 @@ This is nicely visualized in this diagram from Figure 4.4 of [Unit B-4 Exercises
 Duckmentation](https://docs.duckietown.org/daffy/duckietown-classical-robotics/out/exercise_sensor_fusion.html#fig:at-lib-frame-convention-wrap).
 
 <img
-    src="../../../src/assets/duckietown/lab3/at-frame-convention.jpg"
+    src="/images/duckietown/lab3/at-frame-convention.jpg"
     alt="Frame convention used by april tag library when returning pose"
 />
 
@@ -223,12 +223,12 @@ the bot is an entire intersection ahead of where Rviz seems to show it.
 <iframe
     width="100%"
     height="325"
-    src="../../../src/assets/duckietown/lab3/footprint_as_root_tf.pdf"
+    src="/images/duckietown/lab3/footprint_as_root_tf.pdf"
     frameborder="0">
 </iframe>
 
 It is quite the big graph, if you need to zoom in, click
-[here](../../../src/assets/duckietown/lab3/footprint_as_root_tf.pdf) to open the generated
+[here](/images/duckietown/lab3/footprint_as_root_tf.pdf) to open the generated
 transform tree graph. The root of this tree is
 `csc22927/footprint`.
 
@@ -293,12 +293,12 @@ remove the ability to transform between frames in two different trees.
 <iframe
     width="100%"
     height="260"
-    src="../../../src/assets/duckietown/lab3/footprint_as_child_tf.pdf"
+    src="/images/duckietown/lab3/footprint_as_child_tf.pdf"
     frameborder="0">
 </iframe>
 
 It is quite the big graph, if you need to zoom in, click
-[here](../../../src/assets/duckietown/lab3/footprint_as_child_tf.pdf) to open the newly generated
+[here](/images/duckietown/lab3/footprint_as_child_tf.pdf) to open the newly generated
 transform tree graph.
 
 The new root/parent is the `world` frame.
@@ -338,7 +338,7 @@ already.
 Our solution to this was pure genius:
 
 <img
-    src="../../../src/assets/duckietown/lab3/bottle_bots.avif"
+    src="/images/duckietown/lab3/bottle_bots.avif"
     alt="Big waterbottle on top of duckiebot"
 />
 
@@ -411,7 +411,7 @@ We could have tried using multiple april tags (when visible) to improve our
 localization estimate.
 
 <img
-    src="../../../src/assets/duckietown/lab3/birds_eye_view.avif"
+    src="/images/duckietown/lab3/birds_eye_view.avif"
     alt="Bird's eye view from camera"
 />
 Bird's eye view obtained using a projective transformation of the image.
diff --git a/src/content/blog/duckietown/lab4.md b/src/content/blog/duckietown/lab4.md
index c16393c..b5d5ae7 100644
--- a/src/content/blog/duckietown/lab4.md
+++ b/src/content/blog/duckietown/lab4.md
@@ -2,7 +2,7 @@
 title: 'DuckieTown - Lab 4'
 description: "Robots Following Robots"
 pubDate: 'March 19 2023'
-heroImage: '../../../src/assets/duckietown/lab4/state_machine_flowchart.avif'
+heroImage: '/images/duckietown/lab4/state_machine_flowchart.avif'
 ---
 
 # Don't crash! Tailing behaviour - Fourth lab
@@ -56,7 +56,7 @@ by seeing the red line from the other line.
 Check out the diagram below!
 
 <img
-    src="../../../src/assets/duckietown/lab4/state_machine_flowchart.avif"
+    src="/images/duckietown/lab4/state_machine_flowchart.avif"
     alt="Flow chart of internal state machine"
 />
 
@@ -76,7 +76,7 @@ detection node is intermittent, we had to use the TOF to fill in the gaps,
 however, we noticed that the two measurements did not perfectly correspond.
 
 <img
-    src="../../../src/assets/duckietown/lab4/camera_vs_tof.avif"
+    src="/images/duckietown/lab4/camera_vs_tof.avif"
     alt="Camera readings against TOF distance readings on a chart"
 />
 
diff --git a/src/content/blog/duckietown/lab5.md b/src/content/blog/duckietown/lab5.md
index 78602f8..261e973 100644
--- a/src/content/blog/duckietown/lab5.md
+++ b/src/content/blog/duckietown/lab5.md
@@ -2,7 +2,7 @@
 title: 'DuckieTown - Lab 5'
 description: "Machine Learning Robotics - Vision"
 pubDate: 'March 26 2023'
-heroImage: '../../../src/assets/duckietown/lab5/test-contour.avif'
+heroImage: '/images/duckietown/lab5/test-contour.avif'
 ---
 
 # MNIST Dataset and ML basic terminologies
@@ -12,7 +12,7 @@ heroImage: '../../../src/assets/duckietown/lab5/test-contour.avif'
 <iframe
     width="100%"
     height="600"
-    src="../../../src/assets/duckietown/lab5/deliverable-1-backprop.pdf"
+    src="/images/duckietown/lab5/deliverable-1-backprop.pdf"
     frameborder="0">
 </iframe>
 
@@ -53,13 +53,13 @@ that is unable to separate the classes well.
 
 t-SNE before changing the activation function:
 <img
-    src="../../../src/assets/duckietown/lab5/t-SNE.avif"
+    src="/images/duckietown/lab5/t-SNE.avif"
     alt="Clusters without changing activation function"
 />
 
 t-SNE after changing the activation function:
 <img
-    src="../../../src/assets/duckietown/lab5/t-SNE-linear.avif"
+    src="/images/duckietown/lab5/t-SNE-linear.avif"
     alt="Clusters after changing activation function"
 />
 
@@ -144,7 +144,7 @@ Our model architecture diagram created with
 [NN-SVG](https://github.com/alexlenail/NN-SVG) is shown below:
 
 <img
-    src="../../../src/assets/duckietown/lab5/model.avif"
+    src="/images/duckietown/lab5/model.avif"
     alt="Model architecture"
 />
 
@@ -152,7 +152,7 @@ We collected 270 train images and 68 test images of the numbers by saving
 images from the bot like below:
 
 <img
-    src="../../../src/assets/duckietown/lab5/test-raw.avif"
+    src="/images/duckietown/lab5/test-raw.avif"
     alt="Example raw image"
 />
 
@@ -161,21 +161,21 @@ extract the blue sticky note.
 (`cv.inRange`).
 
 <img
-    src="../../../src/assets/duckietown/lab5/test-mask1.avif"
+    src="/images/duckietown/lab5/test-mask1.avif"
     alt="Example mask image"
 />
 
 Then, we find the contour (`cv.findContours`) of the blue sticky note.
 
 <img
-    src="../../../src/assets/duckietown/lab5/test-contour.avif"
+    src="/images/duckietown/lab5/test-contour.avif"
     alt="Example contour image"
 />
 
 Then, we use OpenCV to get the convex hull of the contour (`cv.convexHull`).
 
 <img
-    src="../../../src/assets/duckietown/lab5/test-convex_hull.avif"
+    src="/images/duckietown/lab5/test-convex_hull.avif"
     alt="Example convex hull image"
 />
 
@@ -187,7 +187,7 @@ came up with the same idea as this [Stack Overflow
 answer](https://stackoverflow.com/a/55339684).
 
 <img
-    src="../../../src/assets/duckietown/lab5/test-corners.avif"
+    src="/images/duckietown/lab5/test-corners.avif"
     alt="Example corners image"
 />
 
@@ -195,7 +195,7 @@ Using OpenCV we calculate a perspective transform matrix to transform the
 image to 28 x 28 pixels.
 
 <img
-    src="../../../src/assets/duckietown/lab5/test-warp.avif"
+    src="/images/duckietown/lab5/test-warp.avif"
     alt="Example warp image"
     width="30%"
 />
@@ -204,7 +204,7 @@ We get the black HSV colour mask of the warped image (`cv.inRange`) to extract
 the number.
 
 <img
-    src="../../../src/assets/duckietown/lab5/test-mask2.avif"
+    src="/images/duckietown/lab5/test-mask2.avif"
     alt="Example mask image"
     width="30%"
 />
diff --git a/src/content/blog/duckietown/lab6.md b/src/content/blog/duckietown/lab6.md
index 4b8595b..8115346 100644
--- a/src/content/blog/duckietown/lab6.md
+++ b/src/content/blog/duckietown/lab6.md
@@ -2,12 +2,12 @@
 title: 'DuckieTown - Lab 6'
 description: "Final Assignment - Obstacle Course"
 pubDate: 'April 16 2023'
-heroImage: '../../../src/assets/duckietown/final/three_ducks_on_a_windowsill.avif'
+heroImage: '/images/duckietown/final/three_ducks_on_a_windowsill.avif'
 ---
 
-<img src="../../../src/assets/duckietown/final/nine_ducks_on_two_dividers.avif" alt="Nine ducks on two dividers" style="height: 900px; margin: 0, padding: 0">
-<img src="../../../src/assets/duckietown/final/six_ducks_on_two_windowsills.avif" alt="Six ducks on two windowsills">
-<img src="../../../src/assets/duckietown/final/bam.avif" alt="Bam!">
+<img src="/images/duckietown/final/nine_ducks_on_two_dividers.avif" alt="Nine ducks on two dividers" style="height: 900px; margin: 0, padding: 0">
+<img src="/images/duckietown/final/six_ducks_on_two_windowsills.avif" alt="Six ducks on two windowsills">
+<img src="/images/duckietown/final/bam.avif" alt="Bam!">
 
 ## Round 1
 
diff --git a/src/content/blog/duckietown/pre_lab1.md b/src/content/blog/duckietown/pre_lab1.md
index a07fd9d..b82fffe 100644
--- a/src/content/blog/duckietown/pre_lab1.md
+++ b/src/content/blog/duckietown/pre_lab1.md
@@ -2,7 +2,7 @@
 title: 'DuckieTown - Pre-Lab 1'
 description: 'Getting ready for CMPUT 412'
 pubDate: 'Jan 11 2023'
-heroImage: '../../../src/assets/duckietown/dashboard_motors_spin.avif'
+heroImage: '/images/duckietown/dashboard_motors_spin.avif'
 ---