This page briefly presents code libraries and scripts that I have written. As usual, use at your own peril :-)
Nuklei is a C++ library that implements kernel methods for SE(3) data. Nuklei provides kernel functions for SE(3) data, algorithms for kernel density estimation, and two-class nonlinear classification of SE(3) data via kernel logistic regression. Nuklei also provides tools for 3D object pose estimation, for manipulating SE(3) transformations, and for manipulating point clouds.
TRSL is a C++ library that implements several sampling schemes behind an (STL-like) iterator interface. The library may be used e.g. in particle filtering or probabilistic inference frameworks.I am currently the one (and only) developer of TRSL. Anyone interested is warmly welcome to help!
TRS relies on a cross-platform robot development and simulation environment that can be installed in five minutes and that allows students to write control, navigation, vision or manipulation algorithms in a hundred lines of Matlab or Python code. TRS contains a project structure (documentation, objectives, milestones), and the software skeleton for running the project (simulator models, Matlab code examples, install instructions). It is freely available and extendable.
add_usr /path/to/new/usrwill update environment variables to indicate development tools that software is installed in
/path/to/new/usr. For example, if you don't have write access to /usr/local, you usually install libraries e.g. to $HOME/usr (e.g. with
./configure --prefix=$HOME/usr). Typing
add_usr $HOME/usreither interactively or in your
.bashrcwill update your PATH with
$HOME/usr/bin, and will make
cmake, and other build tools look in
$HOME/usr/libfor libraries, etc.