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Application:GridmapNavSimul

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 sequence of fixed poses given in a file.

The intention of the program is to save all the sensor data as dataset files: laser scans and odometry. That is, the program is a generator of synthetic robotics data sets.

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applications

Application: kinect-3d-slam

See also: Kinect and MRPT


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:
- Point to some static, near object.
- Press 'r' to reset the map.
- Start moving the Kinect slowly. Take care that at least 3-5 features exist at all time.

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applications

Application:grid-matching

See also: Publications and C++ classes on Occupancy Grid Matching

(This page is an HTML version of the program man-page)

 

NAME

grid-matching - Executes occupancy grid matching techniques
 

SYNOPSIS

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applications

Application:graph-slam

See also: Graph-SLAM maps

Man-page

 

NAME

graph-slam - Command-line Graph-SLAM hub application
 

SYNOPSIS

   graph-slam  [--info] [--dijkstra] [--levmarq] [--no-span]
               [--initial-lambda <val>] [--max-iters <N>] [-q] [--view]
               [--3d] [--2d] [-o <result.graph>] -i <test.graph> [--]
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applications

Application:camera-calib (Camera intrinsic calibration)

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applications

Application: SceneViewer3D

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).

List of supported import/export file formats:

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applications

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 other program, typically for localization (pf-localization) or mapping (kf-slam, rbpf-slam,...):

 

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applications

Application:simul-landmarks

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. The location and number of landmarks are configurable via the input configuration file. Also, the robot path can be fixed or a kind of "random walk". The random seed for both the path and the sensor noise can be set, so the generated datasets can be exactly reproduced by different researchers from the same configuration file. The generated rawlogs will contain observations of type mrpt::slam::CObservationBearingRange.
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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.
Included detectors and descriptors are all supported by the C++ class mrpt::vision::CFeatureExtractor. The following methods are implemented:
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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 not intended for real-time operation on a robot, though the source code requires little modification to do so.
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applications

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