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List of MRPT apps

Posted in Applications

Application: kinect-3d-slam

Application: kinect-3d-slam

1. Description This is a very simple program written in 2 hours just to illustrate the capabilities of Xbox Kinect to perform Visual SLAM with the MRPT libraries. It is not supposed to be used for even medium-sized maps. Usage: 

Posted in Applications

Application: srba-slam (Relative Bundle Adjustment and Relative Graph-SLAM)

See also: main SRBA documentation page SRBA-SLAM Section: Mobile Robot Programming Toolkit – MRPT (1) NAME srba-slam – A demo program for Relative Bundle Adjustment (RBA)  SYNOPSIS srba-slam –help srba-slam –list-problems srba-slam {–se2|–se3} {–lm-2d|–lm-3d} –obs [StereoCamera|…] -d DATASET.txt [–sensor-params-cfg-file SENSOR_CONFIG.cfg] [–noise NOISE_SIGMA] [–verbose {0|1|2|3}] [–step-by-step]  COMPLETE LIST OF PARAMETERS

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Posted in Applications

Application: kinect-stereo-calib

Capturing in the IR channel of Kinect.

1. Description kinect-stereo-calib is a program for: Interactive calibration of the intrinsic and extrinsic parameters of Kinect sensors with a checkerboard. Calibration of arbitrary stereo cameras, from images already grabbed by the user. It supports cameras of dissimilar resolutions, any baseline and any arbitrary rotation

Posted in Applications

Application: track-video-features

Application: track-video-features

1. Description The program track-video-features demonstrates live detection and tracking of features in a video stream. To invoke it, just type from the console: $ track-video-features and a GUI dialog will ask you to pick the video source (among video files, rawlogs, live firewire

Posted in Applications

Application: kinect-3d-view

Application: kinect-3d-view

1. Info

See the source code: https://raw.github.com/jlblancoc/mrpt/master/apps/kinect-3d-view/kinect-3d-view_… 2. Video

Posted in Applications

Application: DifOdometry-Camera

Application: DifOdometry-Camera

1. Description This GUI application is designed to perform visual odometry with a handheld RGB-D camera. The method implemented is called “DIFODO” and it is based only on geometric data (range images). A config file can be used to customize

Posted in Applications

Application: map-partition

Map-partition_paper

A front-end to the class mrpt::slam::CIncrementalMapPartitioner. The map to be processed, a “.simplemap” file, is passed in the command line, and the program generates the sub-maps and the original and rearranged weight matrices. 1. Spectral graph bisection-based map partitioning (map-partition) read

Posted in Applications

Application: DifOdometry-Datasets

Application: DifOdometry-Datasets

1. Description This GUI application is designed to test the performance of DIFODO (visual odometry method) with the TUM/Freiburg datasets (which have been adapted/included in MRPT as rawlog files here). Only the ground truth and the depth images are used.

Posted in Applications

Application: navlog-viewer

screenshot_navlog-viewer
Posted in Applications

Application: observations2map

This program takes a simplemap as input, generates one or several metric maps from its observations and poses, and dumps the map representations to individual files. (Write me!)

Posted in Applications

Application: pf-localization

Application: pf-localization

=&0=& ROS package mrpt_localization The application pf-localization implements a particle filter for localization (aka Markov Localization) of a mobile robot given odometry, a map of the environment and any number and combination of sensor observations such as a likelihood can be computed

Posted in Applications

Application: carmen2rawlog

NAME carmen2rawlog – Convert robotic datasets between CARMEN and Rawlog formats SYNOPSIS carmen2rawlog [-z <0: none, 1-9: min-max>] -i carmen.log -o dataset_out.rawlog [-q] [-w] [–] [–version] [-h] carmen2rawlog –help DESCRIPTION carmen2rawlog is a command-line application to convert CARMEN robotic datasets to the rawlog” standardized file format. Arguments:

Posted in Applications

Application: rawlog-edit

Note: This is the HTML version of the program’s man-page.   NAME rawlog-edit – Command-line robotic datasets (rawlogs) manipulation tool   SYNOPSIS USAGE:

  USAGE EXAMPLES Quick overview of a dataset file: rawlog-edit –info -i in.rawlog Cut the entries [1000,2000]

Posted in Applications

Application: carmen2simplemap

NAME carmen2simplemap – Convert robotic datasets between CARMEN and simplemap formats SYNOPSIS carmen2simplemap [-z <0: none, 1-9: min-max>] -i carmen.log -o map.simplemap [-q] [-w] [–] [–version] [-h] carmen2simplemap –help DESCRIPTION carmen2simplemap is a command-line application to convert a CARMEN robotic dataset (with corrected poses already in it) into the simplemap”

Posted in Applications

Application: rawlog-grabber

1. Description rawlog-grabber is a command-line application which uses a generic sensor architecture to collect data from a variety of robotic sensors in real-time taking into account the different rates at which each sensor may work. All the data is time stamp-sorted and dumped into

Posted in Applications

Application: features-matching

1. Overview The program features-matching is a small tool which takes a pair of images and detects features with one of a number of detectors, then associate each of them with a user chosen descriptor, and display graphically all the potential matches.

Posted in Applications

Application: rbpf-slam

It is actually a front-end to the class mrpt::slam::CMetricMapBuilderRBPF. All the parameters to the algorithm are passed through a configuration file in the command line. The filter processes actions and observations from a rawlog file and optionally generates a number of

Posted in Applications

Application: graph-slam

Application: graph-slam

NAME graph-slam – Command-line Graph-SLAM hub application SYNOPSIS

USAGE EXAMPLES View Dijkstra-based spanning tree coordinates estimation of a 2D graph file graph-slam –2d –dijkstra –view -i in.graph Visualization of a 2D (or 3D) graph file graph-slam –2d [or –3d] –view

Posted in Applications

Application: ReactiveNavigationDemo

See also: ROS package mrpt_reactivenav2d This GUI application displays a flat world where obstacles are described through an occupancy grid map and where the user can choose target locations for running reactive navigation simulations. The map can be changed to

Posted in Applications

Application: grid-matching

See also: Publications and C++ classes on Occupancy Grid Matching NAME grid-matching – Executes occupancy grid matching techniques SYNOPSIS grid-matching –match –map1=grid1.simplemap –map2=grid1.simplemap [options] grid-matching –detect-test –map1=grid1.simplemap [options] DESCRIPTION grid-matching is a command-line application which takes two maps as input and computes a Sum-Of-Gaussians (SOG) density

Posted in Applications

Application: ReactiveNav3D-Demo

ReactiveNav3D-Demo_screenshot

See also: ROS package mrpt_reactivenav2d 1. Description This GUI application is designed to test a 3D reactive navigator. It simulates a “2.5D world” where obstacles are modeled through several occupancy grid maps at different heights. The robot shape can be customized

Posted in Applications

Application: ro-localization

1. Overview The application ro-localization implements a particle filter for localization (aka Markov Localization) for a mobile robot using odometry, a set of known fixed beacons. The sequence of robot observations is taken from a dataset file (rawlog): it is

Posted in Applications

Application: holonomic-navigator-demo

Application: holonomic-navigator-demo

A GUI demonstrating the holonomic navigation algorithms implemented in mrpt-reactivenav. This program allows testing, learning and tuning these algorithms: VFF (Virtual Force Field) ND (Nearness Diagram) Example video:

Posted in Applications

Application: robotic-arm-kinematics

Application: robotic-arm-kinematics

This graphical application allows creating models of robotic manipulators by introducing the corresponding Denavit-Hartenberg (DH) parameters. It’s a useful tool for teaching and learning the basics of robotic arm kinematics. As the rest of MRPT apps, it is included in source and binary packages in

Posted in Applications

Application: icp-slam

Application: icp-slam

1. Description icp-slam is a front-end application to the MRPT C++ library class mrpt::slam::CMetricMapBuilderICP. This SLAM algorithm builds a map incrementally by aligning new range scans to either a point point or an occupancy grid map using the ICP algorithm. The ICP

Posted in Applications

Application: SceneViewer3D

3DSceneViewer - Screenshot

SceneViewer3D is a GUI program which loads and visualizes .3Dscene files (see reference on file formats). This application is able of basic support for animations (camera trajectories and sequences of files) and can also generate high-resolution renders directly to image files (offscreen rendering).

Posted in Applications

Application: kf-slam

Application: kf-slam

This application implements a simple Kalman Filter for solving the SLAM problem for generic 3D range-bearing sensors and a full 6D robot state space. This program is a front-end for the classmrpt::slam::CRangeBearingKFSLAM . All the parameters to the algorithm are passed

Posted in Applications

Application: simul-landmarks

Simul-landmarks_screenshot

1. Overview The program simulates range-bearing observations of a robot following a 2D or 3D(6D) path. Note that this simulator can be used for generating synthetic datasets for both 2D “classic” range-bearing SLAM as well as for 3D stereo slam-like SLAM problems.

Posted in Applications

Application: RawLogViewer

Application: RawLogViewer

1. Purpose of this program The main goal of the GUI program RawLogViewer is to allow users to quickly inspect, cut, or modify in many different ways a given Rawlog (datasets) gathered by a robot, with the idea of preparing it as the input to some

Posted in Applications

Application: 2d-slam-demo

Application: 2d-slam-demo

1. Description This GUI application is an extension to a similar Matlab program developed by J. Neira and J. D. Tardós (University of Zaragoza). It allows extensive experimentation with data-association and the behavior of Kalman Filter-based 2D SLAM, in a didactic way. At the core

Posted in Applications

Application: camera-calib (Camera intrinsic calibration)

Screenshot_camera_calib_3Dview

1. Description This GUI program allows users to find out the camera parameters of a camera by capturing several images of a checkerboard. The program allows online grabbing or images as well as selection of pre-recorded image files. It also shows

Posted in Applications

Application: GridmapNavSimul

Application: GridmapNavSimul

1. Description GridmapNavSimul (Grid map navigation simulator) is a GUI program that takes an occupancy gridmap and let you move a robot around simulating a laser scanner. The robot can be guided manually with keystrokes, with a joystick or reproduce a

Posted in Applications

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