This software provides the tools needed to reproduce the results described in the paper "Effective Compression of Range Data Streams for Remote Robot Operations using H.264". As these scripts create and save on the disk a large amount of images, and make use of the 'x264' and 'ffmpeg' commands as external tools, the time performances are not comparable with those described in the paper. In order to get realtime performances the C libraries provided by x264 and FFmpeg have to be included in your own code. It is our intention to release a easily usable interface to use our method as a C++ library, so to allow for an effective use of the method in real-life use cases. The library will be released soon.
Normal Iterative Closest Point (NICP) C++ Library
March 19, 2015
This software provides useful tools to align point cloud data generated from either depth cameras or 3D laser scanners. We developed this software as a standalone open-source C++ library. The library comes with a set of instruments that can be used to easy build point cloud alignment systems like a depth camera pose tracker, and to deeply debug the behviour of the algorithm.
EasyDepthCalibration - a C++ ros package to reduce barrel distortion on depth sensors
March 19, 2015
Easy Depth calibration is a complete software package for calibrating any Depth sensor (in particular RGBD cameras, such as Kinext, Xtion, etc.) with a very simple and easy-to-execute procedure. The reduction of the exploited barrel distortion makes mapping procedures more robust and reliable.
Uncalibrated depth cloud, green is ground truth
Depth cloud after the calibration procedure, green is ground truth
g2o
January 01, 2015
New release of g2o integrating hierarchical optimization and dynamic covariance scaling
C++ IMU-TK Library
March 30, 2015
The C++ IMU-TK Library (Inertial Measurement Units ToolKit) provides simple functions and data structures to calibrate MEMS-based inertial navigation units, and to process and display IMU data.
IMU-TK implements a multi-position calibration method that does not require any parameter tuning and simply requires the sensor to be moved by hand and placed in a set of different, automatically detected, static positions. IMU-TK also provides a collection of functions for data integration.
Thin-Drivers
January 01, 2016
A collection of light-weight ROS drivers developed within/fior ROVINA
Semantic Segmentation ROS node
September 19, 2016
The semantic segmentation ros node used in ROVINA. This is the repository released on github. It depends on the UNIROMA fps mapper which is not part of that repository.
ROVINA Code Base
September 19, 2016
Release of the ROVINA Code Base
FPS Mapper
September 25, 2016
FPS Mapper - the Fast Pose Solver Mapping Suite is the heart of the Kinect/Xtion-based ROVINA mapping system It is a thin package for mapping with multiple depth sensors used on the ROVINA robot.