JETSON Xavier NX 板卡可以通过什么方式与外部安卓设备进行无线传输及通讯呢？

JETSON Xavier NX板卡可以使用以下方式与外部安卓设备进行无线传输和通讯：

1. Wi-Fi：JETSON Xavier NX板卡支持Wi-Fi连接，可以与外部安卓设备通过Wi-Fi网络进行无线通讯和传输数据。

2. Bluetooth：JETSON Xavier NX板卡还支持蓝牙连接，可以与外部安卓设备通过蓝牙进行无线通讯和传输数据。

3. 4G/5G网络：如果外部安卓设备支持4G/5G网络连接，JETSON Xavier NX板卡可以通过4G/5G网络与其进行无线通讯和传输数据。

4. 其他无线传输协议：JETSON Xavier NX板卡还可以使用其他无线传输协议与外部安卓设备进行无线通讯和传输数据，如NFC、IR等。

相关问题

JETSON Xavier NX 板卡可以通过什么方式与外部安卓设备进行无线传输及通讯呢？或者市面上目前用的SOCKET通信应该怎么应用到这个问题中呢？

以下是一个简单的点云配准代码，使用ICP算法实现。

#include <stdio.h>
#include <stdlib.h>
#include <math.h>

#define MAX_POINTS 1000
#define MAX_ITERATIONS 100
#define CONVERGENCE_THRESHOLD 0.0001

typedef struct {
    double x;
    double y;
    double z;
} Point;

void readPoints(Point *points, int *nPoints, char *filename) {
    FILE *fp = fopen(filename, "r");
    if (fp == NULL) {
        printf("Error: Could not open file %s\n", filename);
        exit(1);
    }
    int i = 0;
    while (fscanf(fp, "%lf %lf %lf", &points[i].x, &points[i].y, &points[i].z) == 3) {
        i++;
        if (i >= MAX_POINTS) break;
    }
    *nPoints = i;
    fclose(fp);
}

void writePoints(Point *points, int nPoints, char *filename) {
    FILE *fp = fopen(filename, "w");
    if (fp == NULL) {
        printf("Error: Could not open file %s\n", filename);
        exit(1);
    }
    for (int i = 0; i < nPoints; i++) {
        fprintf(fp, "%lf %lf %lf\n", points[i].x, points[i].y, points[i].z);
    }
    fclose(fp);
}

double distance(Point p1, Point p2) {
    return sqrt((p1.x - p2.x) * (p1.x - p2.x) +
                (p1.y - p2.y) * (p1.y - p2.y) +
                (p1.z - p2.z) * (p1.z - p2.z));
}

void transformPoints(Point *points, int nPoints, Point translation, Point rotation) {
    double cosTheta = cos(rotation.x);
    double sinTheta = sin(rotation.x);
    double cosPhi = cos(rotation.y);
    double sinPhi = sin(rotation.y);
    double cosPsi = cos(rotation.z);
    double sinPsi = sin(rotation.z);
    for (int i = 0; i < nPoints; i++) {
        double x = points[i].x - translation.x;
        double y = points[i].y - translation.y;
        double z = points[i].z - translation.z;
        double newX = cosPhi * cosPsi * x +
                      (cosTheta * sinPsi + sinTheta * sinPhi * cosPsi) * y +
                      (sinTheta * sinPsi - cosTheta * sinPhi * cosPsi) * z;
        double newY = -cosPhi * sinPsi * x +
                      (cosTheta * cosPsi - sinTheta * sinPhi * sinPsi) * y +
                      (sinTheta * cosPsi + cosTheta * sinPhi * sinPsi) * z;
        double newZ = sinPhi * x -
                      sinTheta * cosPhi * y +
                      cosTheta * cosPhi * z;
        points[i].x = newX;
        points[i].y = newY;
        points[i].z = newZ;
    }
}

void computeCentroid(Point *points, int nPoints, Point *centroid) {
    double sumX = 0, sumY = 0, sumZ = 0;
    for (int i = 0; i < nPoints; i++) {
        sumX += points[i].x;
        sumY += points[i].y;
        sumZ += points[i].z;
    }
    centroid->x = sumX / nPoints;
    centroid->y = sumY / nPoints;
    centroid->z = sumZ / nPoints;
}

void computeCovarianceMatrix(Point *points, int nPoints, Point centroid, double *covarianceMatrix) {
    for (int i = 0; i < 9; i++) {
        covarianceMatrix[i] = 0;
    }
    for (int i = 0; i < nPoints; i++) {
        double x = points[i].x - centroid.x;
        double y = points[i].y - centroid.y;
        double z = points[i].z - centroid.z;
        covarianceMatrix[0] += x * x;
        covarianceMatrix[1] += x * y;
        covarianceMatrix[2] += x * z;
        covarianceMatrix[3] += x * y;
        covarianceMatrix[4] += y * y;
        covarianceMatrix[5] += y * z;
        covarianceMatrix[6] += x * z;
        covarianceMatrix[7] += y * z;
        covarianceMatrix[8] += z * z;
    }
}

void computeRotationMatrix(double *covarianceMatrix, double *rotationMatrix) {
    double eigenvalues[3];
    double eigenvectors[9];
    double tempMatrix[9];
    double tempVector[3];
    int iterations = 0;
    double error = 1;
    while (error > CONVERGENCE_THRESHOLD && iterations < MAX_ITERATIONS) {
        // Compute eigenvalues and eigenvectors
        eigenvalues[0] = covarianceMatrix[0];
        eigenvalues[1] = covarianceMatrix[4];
        eigenvalues[2] = covarianceMatrix[8];
        eigenvectors[0] = 1; eigenvectors[1] = 0; eigenvectors[2] = 0;
        eigenvectors[3] = 0; eigenvectors[4] = 1; eigenvectors[5] = 0;
        eigenvectors[6] = 0; eigenvectors[7] = 0; eigenvectors[8] = 1;
        for (int i = 0; i < 3; i++) {
            for (int j = 0; j < MAX_ITERATIONS; j++) {
                double sum = 0;
                for (int k = 0; k < 3; k++) {
                    sum += covarianceMatrix[i + k * 3] * eigenvectors[k + j * 3];
                }
                tempVector[j] = sum;
            }
            double norm = sqrt(tempVector[0] * tempVector[0] +
                               tempVector[1] * tempVector[1] +
                               tempVector[2] * tempVector[2]);
            eigenvectors[i] = tempVector[0] / norm;
            eigenvectors[i + 3] = tempVector[1] / norm;
            eigenvectors[i + 6] = tempVector[2] / norm;
        }
        // Compute error
        for (int i = 0; i < 9; i++) {
            tempMatrix[i] = 0;
        }
        for (int i = 0; i < 3; i++) {
            for (int j = 0; j < 3; j++) {
                double sum = 0;
                for (int k = 0; k < 3; k++) {
                    sum += eigenvectors[i + k * 3] * eigenvectors[j + k * 3];
                }
                tempMatrix[i + j * 3] = sum;
            }
        }
        error = fabs(tempMatrix[0] - rotationMatrix[0]) +
                fabs(tempMatrix[1] - rotationMatrix[1]) +
                fabs(tempMatrix[2] - rotationMatrix[2]) +
                fabs(tempMatrix[3] - rotationMatrix[3]) +
                fabs(tempMatrix[4] - rotationMatrix[4]) +
                fabs(tempMatrix[5] - rotationMatrix[5]) +
                fabs(tempMatrix[6] - rotationMatrix[6]) +
                fabs(tempMatrix[7] - rotationMatrix[7]) +
                fabs(tempMatrix[8] - rotationMatrix[8]);
        for (int i = 0; i < 9; i++) {
            rotationMatrix[i] = tempMatrix[i];
        }
        iterations++;
    }
}

void computeTranslation(Point *sourcePoints, Point *targetPoints, int nPoints, Point *translation) {
    double sumX = 0, sumY = 0, sumZ = 0;
    for (int i = 0; i < nPoints; i++) {
        sumX += targetPoints[i].x - sourcePoints[i].x;
        sumY += targetPoints[i].y - sourcePoints[i].y;
        sumZ += targetPoints[i].z - sourcePoints[i].z;
    }
    translation->x = sumX / nPoints;
    translation->y = sumY / nPoints;
    translation->z = sumZ / nPoints;
}

void applyTransformation(Point *points, int nPoints, Point translation, Point rotation) {
    transformPoints(points, nPoints, translation, rotation);
}

void icp(Point *sourcePoints, int nSourcePoints, Point *targetPoints, int nTargetPoints, Point *centroid, double *covarianceMatrix, double *rotationMatrix, Point *translation) {
    int iterations = 0;
    double error = 1;
    while (error > CONVERGENCE_THRESHOLD && iterations < MAX_ITERATIONS) {
        // Compute centroid and covariance matrix
        computeCentroid(sourcePoints, nSourcePoints, centroid);
        computeCovarianceMatrix(sourcePoints, nSourcePoints, *centroid, covarianceMatrix);
        // Compute rotation matrix
        computeRotationMatrix(covarianceMatrix, rotationMatrix);
        // Compute translation
        applyTransformation(sourcePoints, nSourcePoints, *centroid, rotationMatrix);
        computeTranslation(sourcePoints, targetPoints, nSourcePoints, translation);
        applyTransformation(sourcePoints, nSourcePoints, *translation, rotationMatrix);
        // Compute error
        error = 0;
        for (int i = 0; i < nSourcePoints; i++) {
            error += distance(sourcePoints[i], targetPoints[i]);
        }
        error /= nSourcePoints;
        iterations++;
    }
}

int main() {
    Point sourcePoints[MAX_POINTS];
    Point targetPoints[MAX_POINTS];
    int nSourcePoints, nTargetPoints;
    char *sourceFilename = "source.xyz";
    char *targetFilename = "target.xyz";
    readPoints(sourcePoints, &nSourcePoints, sourceFilename);
    readPoints(targetPoints, &nTargetPoints, targetFilename);
    Point centroid;
    double covarianceMatrix[9];
    double rotationMatrix[9] = {1, 0, 0, 0, 1, 0, 0, 0, 1};
    Point translation;
    icp(sourcePoints, nSourcePoints, targetPoints, nTargetPoints, &centroid, covarianceMatrix, rotationMatrix, &translation);
    applyTransformation(sourcePoints, nSourcePoints, centroid, rotationMatrix);
    applyTransformation(sourcePoints, nSourcePoints, translation, rotationMatrix);
    char *outputFilename = "output.xyz";
    writePoints(sourcePoints, nSourcePoints, outputFilename);
    return 0;
}