| Contents |
Computer Vision
GSL
Math and Numerical Tools
Microchip PIC
OpenCV
Robotics
TeX/LaTeX
Thesis Templates/Plantillas Tesis PUC en LaTeX
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| Computer Vision |
Stereovision 3.0 (c) Jul.1998
- Description:
Stereovision was implemented in MS Visual Studio C++ to compute
distance maps from a pair of stereoscopic images. The program provides
a GUI implemented using the Win32 SKD in a multithreaded approach. The
program includes several basic image processing functions, e.g.
gaussian blurring, median fltering, fast mean and convolution
computation. Stereovision also includes a routine for panospheric image
dewarping.
- Source and binary files: stereov3.rar
ODVS 1.0 (c) 2007
- Description:
ODVS stands for omnidirectional vision sensor. ODVS provides a routine
to dewarp panoramic images captured using hyperbolic mirrors. ODVS is
implemented using OpenCV and GSL (see GSL and OpenCV sections within
this page.
- Source and binary files: odvs.rar
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| GSL |
GNU Scientific Library (GSL)
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Math and Numerical Tools
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LTP - Lie Tools Package 1.03 (c) 2002
- Description: The Lie Tools Package for the symbolic manipulation of Lie algebraic expressions.
The current version 1.03 - 17.MAR.2002 was implemented in Maple 6/7 in the form
of a library that can be loaded from the Maple environment. See
documentation for further details. Source files and documentation
include application examples. Among other functionallity the package provides procedures for the:
* Simplification of expressions containing Lie brackets.
* Construction of Philip Hall bases.
* Composition of exponential mappings using the Campbell-Baker-Hausdorff formula.
* Derivation of the Wei-Norman equations for linear differential system with finite-dimensional Lie algebras.
- Go to the LTP website.
Numerik Tools version Alpha 0.0 (c) 2002
- Description:
Zip compressed file containing C routines for ODE integration and least
squares problems optimization. The methods implemented are the
Runge-Kutta (RK45) and the Levenberg-Marquardt modification to the
Newton-Raphson algorithm, respectively. These routines have been
adapted to handle control system problems in a better way. In these
problems one usually has some function f(x,u) of the state x and the
control variable u, instead of the typical autonomous version f(x).
Details and examples have been included. The routines have been
successfully compiled with gcc both under Linux and DOS/djgpp.
(Keywords: ODE RK45 C routine, Levenberg-Marquardt Optimization C
routine).
Despite been an alpha version, the
routines included in Numerik Tools have been tested to work with the
same accuracy as that of similar routines found in Matlab or GSL.
- Source files: http://www.cim.mcgill.ca/%7Emigueltt/eeeng/downloads/ttest.tar.gz
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| Microchip |
Microchip PIC Micro-controller
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| OpenCV |
Open Computer Vision Library (OpenCV)
- Basic Example: ocvs.zip
- Image Sequence to Video Converter: im2vid
- Binary: im2vid_bin.zip
- Source: im2vid_src.zip
- Note:
im2vid allows you to convert a sequence of images to a video. For
example, if you want to build a video from some images named
im0011.bmp, im0012.bmp, ..., im0173.bmp at 10 frames per second, issue
the command: im2vid im -e bmp -sq 11 173 -zp 4 -fps 10
For further help type: im2vid -h
- Video to Image Sequence Converter: vid2im
- Binary: vid2im_bin.zip
- Source: vid2im_src.zip
- Note:
vid2im does the opposite to what im2vid does, i.e. it extracts the
frames of a video and generates a sequence images. For example, if you
wish to convert video.avi to a sequence of image, issue the command:vid2im video.avi
For further help type: vid2im -h
- Plotting / Data Visualization / Virtual Instruments / GUI Widgets Routines: plot.zip
- Current
implemented widgets include 1D plots (variables vs. sample number), 2D
plots (variable Y vs. variable X), level indicators, analog indicators,
heading indicators (compasses), attitude indicators (aka. gyro,
pitch-roll or artificial horizon indicators). There exist many data
visualization routine libraries, as well as GUI widget toolkits and
utilities. However, the purpose of this small set of routines is to
provide a basis upon which more sophisticated widgets can be built
using OpenCV, while keeping functions simple enough for anyone to learn
on his own how to implement plots that can display data dynamically
(possibly in real-time). It should be possible to easily implement all
the functions provided using OpenGL, DirectX or any other advanced
computer graphics library.
- PTZ C/C++ program code template for computer vision and automation projects
Plantilla de programación en C/C++ para proyectos de visión por computador y
automatización
- Full distribution (C/C++ source code and LaTeX documentation): ptz.zip
- Documentation in PDF: ptz.pdf
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| Robotics |
HD Scan Matching for Robot Localization (c) 2008
- Description:
A set of Matlab files to compute scan matching based on the
minimization of the Hausdorff distance. These are the core routines
employed for robot localization as propossed in:
- F. Donoso-Aguirre, J. P. Bustos-Salas, M. Torres-Torriti, A. Guesalaga. Mobile robot localization using the Hausdorff distance. Robotica, v. 26, n. 2, March 2008, pp. 129-141.
- Source files: HD_080209.zip
READ SICK for Visual Studio 2003 (c) 2008
- Description:
C/C++ routine to read Sick laser range scanners via a serial RS232
connection. The project is implemented in Visual Studio 2003 and has
been tested successfully with Sick PLS 101 and Sick LMS 295.
- Source and binary files: READ_SICK.rar
IMU for Visual Studio 2003 (c) 2008
- Description:
C/C++ routine to read Crossbow's inertial measurement unit RGA300CA-100
via a serial RS232 connection. The project is implemented in Visual
Studio 2003.
- Source and binary files: imu.rar
P3AT COMMAND for Visual Studio 2003 (c) 2008
- Description:
C/C++ routine to read the encoders and command the motors of
ActivMedia's Pioneer 3 All-Terrain (P3AT) mobile robot. The project is
implemented in Visual Studio 2003.
- Source and binary files: p3at_robot_control.rar
ROBOT CONTROL GUI for Visual Studio 2003 (c) 2008
- Description:
A graphical control interface implemented in C/C++ using OpenGL to
monitor and control mobile robots. The GUI displays robot variables
such as encoders, heading, velocity acceleration, its motion on a map.
In order to be fully functional, the program requires certain sensors
and the ARIA library for the P3AT robot. The project is implemented in
Visual Studio 2003 and has been released as an example that can be
modified to implemented custom robot control GUIs.
- Binary files: ds_robot_gui_opengl_bin.zip
- Source files: ds_robot_gui_opengl_src.zip
Tutorial sobre Modelación de la Dinámica y Simulación de Robots
Expositor invitado en la 5ta Escuela Latinoamericana en Robotica, Universidad de Chile
Tutorial on Robot Dynamics Modelling and Simulation
Invited tutorial given at the 5th Latin-American Robotics School, Universidad de Chile
2012/12/14 -- http://www.amtc.cl/escueladeverano/programa.htm
Link a este tutorial: http://www.ing.puc.cl/~mtorrest/downloads.htm#robotics_tutorial
- Descripción:
Este tutorial explica en castellano como describir la geometría de un
robot usando los parámetros de Denavit-Hartenberg, y como obtener sus
ecuaciones dinámicas usando el método Recursivo de Newton-Euler. Se
incluyen también ejemplos paso a paso en Maple and Matlab. Los ejemplos
en Matlab requieren de la versión 8 (Feb. 2009) del Robotics Toolbox de Peter Corke (dispobible en forma gratuita aquí). La versión 8 del toolbox se incluye en esta página en caso de problemas para descargarla de el sitio original.
- Description:
This tutorial explains in Spanish how to describe the geometry of a
robot using the Denavit-Hartenberg parameters, and how to obtain its
dynamical equations using the Recursive Newton-Euler approach. Step by
step examples in Maple and Matlab are also provided. The Matlaba
examples require release 8 (Feb. 2009) of Peter Corke's Robotics
Toolbox (freely available here). A copy of release 8 is included here, just in case it is not possible to acces the original site.
- Presentation: pres_robotics_summer_school_111214.pdf
- Maple Examples: DH_transformations.zip
- Matlab Examples: robmod_matlab.zip
- Robotics Toolbox release 8, Feb. 2009: robot_r2008.zip
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| TeX/LaTeX |
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Thesis Templates / Plantillas Tesis PUC en LaTeX
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Notas:
1.
Atención! Las plantillas de postgrado en la página web de postgrado no
han sido actualizadas, y tienen problemas de compilación por cambios en
las nuevas versiones de apacite.
2. Use las plantillas bajo
su propia responsabilidad. Si algo no funciona, se debe a que ha
configurado/instalado alguna parte del sistema TeX/LaTeX, o los
múltiples editores incorrectamente. Las soluciones se encuentran
normalmente en la documentación e información disponible en la red. Si
tiene una consulta, me la puede enviar, pero por razones de tiempo solo
responderé si los problemas de compilación se deben a cambios en el
sistema que requieran que reprograme parte del código en las plantillas.
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