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The new homepage is located here: http://vision.in.tum.de/members/sturmju.

Feature list

  • Modular system consisting of more than 100 packages
    • software self-configuration of the CMake build system (auto-generation of CMakeLists.txt from package manifests)
    • scripts to add stubs for new components
    • Plug-in based architecture
  • Distributed system
    • using IPC (inter process communication)
    • message format is compatible to CARMEN, the Robot Navigation Toolkit
  • Easy, intuitive graphical user interface
    • using the advanced user interface library from wxWidgets
    • docking toolbars and panels
    • save and restore views
    • export and import views to a folder (including all parameters and required files)
  • Object-orientation
    • C++ Code generation for message classes, including stream readers and writers (serialization and de-serialization)
  • Message logging
    • message filter for recording
    • adjustable playback speed
    • automatic stall detection
    • message grouping (synchronization)
    • export and import of logfiles as simple text files, easy to import in other software
    • logfiles have CARMEN compatible format
  • Frame grabbers for various cameras
  • Bridges to device drivers for
    • Schunk PowerCube modules and
    • Schunk Force-Torque sensors (FCTL)
    • Touch sensor from Weiss Robotics
    • iRobot B21r base controller
  • 3D model layer
    • fully object-oriented
    • storage of 3D models in tree structures
    • import from def files
    • export to def, ply, wrl, vrml
    • stream operators for serialization and de-serialization
    • functions to traverse trees
    • search for particular elements in tree, replace
    • add/move/remove nodes, attach nodes to tree, detach
  • 3D visualization panel
    • using OpenGL
    • screenshot export as PNG, JPG
    • video export as AVI, XVID etc. using mencoder
    • several 3D viewers can be opened at the same time (top view, side view, etc.)
    • intuitive camera movements, both with mouse and keyboard
    • camera flights
    • store camera poses
    • move camera with respect to some model parts in the scene (place OpenGL camera at the position of the palm camera, etc.)
  • Kinematics
    • C++ classes for translation vectors, homogeneous matrices, rotation matrices, quaternions, euler angles, twists, etc, including assigment operator between these classes
    • Fast kinematics, using boost matrix/vector classes
    • Jacobian computation, for all model elements
    • Inverse kinematics, using KDL
    • Collision detection
  • Simulator
    • includes PowerCube joints
    • virtual cameras
    • collision checking
    • joint limits
  • Included libraries
    • kinematic dynamic library from the orocos project (KDL)
    • open computer vision library (OpenCV)
    • augmented reality toolkit (ARToolkit)
    • C++ wrappers for the gnu scientific library (GSL, FERN)
    • speeded up robust features (SURF)

last modified on 2009/10/20 17:46